First compiling version after migrating the geometry module to const-generics.
This commit is contained in:
parent
8abbb35b40
commit
23a7d7475b
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@ -11,8 +11,8 @@ use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimName, DimNameDiff, DimNameSub, U1};
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use crate::base::storage::{Storage, StorageMut};
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use crate::base::{
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DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector, Vector2,
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Vector3, VectorN,
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Const, DefaultAllocator, Matrix3, Matrix4, MatrixN, Scalar, SquareMatrix, Unit, Vector,
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Vector2, Vector3, VectorN,
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};
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use crate::geometry::{
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Isometry, IsometryMatrix3, Orthographic3, Perspective3, Point, Point2, Point3, Rotation2,
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@ -411,18 +411,33 @@ where
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transform * v
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}
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}
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impl<N: RealField, S: Storage<N, Const<3>, Const<3>>> SquareMatrix<N, Const<3>, S> {
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/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
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#[inline]
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pub fn transform_point(
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&self,
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pt: &Point<N, { DimNameDiff::<D, U1>::USIZE }>,
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) -> Point<N, { DimNameDiff::<D, U1>::USIZE }> {
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let transform = self.fixed_slice::<DimNameDiff<D, U1>, DimNameDiff<D, U1>>(0, 0);
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let translation = self.fixed_slice::<DimNameDiff<D, U1>, U1>(0, D::dim() - 1);
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let normalizer = self.fixed_slice::<U1, DimNameDiff<D, U1>>(D::dim() - 1, 0);
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let n = normalizer.tr_dot(&pt.coords)
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+ unsafe { *self.get_unchecked((D::dim() - 1, D::dim() - 1)) };
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pub fn transform_point(&self, pt: &Point<N, 2>) -> Point<N, 2> {
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let transform = self.fixed_slice::<Const<2>, Const<2>>(0, 0);
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let translation = self.fixed_slice::<Const<2>, U1>(0, 2);
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let normalizer = self.fixed_slice::<U1, Const<2>>(2, 0);
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let n = normalizer.tr_dot(&pt.coords) + unsafe { *self.get_unchecked((2, 2)) };
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if !n.is_zero() {
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(transform * pt + translation) / n
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} else {
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transform * pt + translation
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}
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}
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}
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impl<N: RealField, S: Storage<N, Const<4>, Const<4>>> SquareMatrix<N, Const<4>, S> {
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/// Transforms the given point, assuming the matrix `self` uses homogeneous coordinates.
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#[inline]
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pub fn transform_point(&self, pt: &Point<N, 3>) -> Point<N, 3> {
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let transform = self.fixed_slice::<Const<3>, Const<3>>(0, 0);
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let translation = self.fixed_slice::<Const<3>, U1>(0, 3);
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let normalizer = self.fixed_slice::<U1, Const<3>>(3, 0);
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let n = normalizer.tr_dot(&pt.coords) + unsafe { *self.get_unchecked((3, 3)) };
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if !n.is_zero() {
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(transform * pt + translation) / n
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@ -39,7 +39,6 @@ pub trait AbstractRotation<N: Scalar, const D: usize>: PartialEq + ClosedMul + C
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impl<N: SimdRealField, const D: usize> AbstractRotation<N, D> for Rotation<N, D>
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where
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N::Element: SimdRealField,
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// DefaultAllocator: Allocator<N, D, D>,
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{
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#[inline]
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fn identity() -> Self {
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@ -59,14 +59,14 @@ use crate::geometry::{AbstractRotation, Point, Translation};
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#[cfg_attr(
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feature = "serde-serialize",
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serde(bound(serialize = "R: Serialize,
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DefaultAllocator: Allocator<N, D>,
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Owned<N, D>: Serialize"))
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DefaultAllocator: Allocator<N, Const<D>>,
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Owned<N, Const<D>>: Serialize"))
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)]
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#[cfg_attr(
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feature = "serde-serialize",
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serde(bound(deserialize = "R: Deserialize<'de>,
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DefaultAllocator: Allocator<N, D>,
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Owned<N, D>: Deserialize<'de>"))
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DefaultAllocator: Allocator<N, Const<D>>,
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Owned<N, Const<D>>: Deserialize<'de>"))
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)]
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pub struct Isometry<N: Scalar, R, const D: usize>
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// where
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@ -84,7 +84,6 @@ where
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N: SimdRealField,
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R: Abomonation,
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Translation<N, D>: Abomonation,
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// DefaultAllocator: Allocator<N, D>,
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{
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unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
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self.rotation.entomb(writer)?;
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@ -104,7 +103,6 @@ where
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impl<N: Scalar + hash::Hash, R: hash::Hash, const D: usize> hash::Hash for Isometry<N, R, D>
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where
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// DefaultAllocator: Allocator<N, D>,
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Owned<N, Const<D>>: hash::Hash,
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{
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fn hash<H: hash::Hasher>(&self, state: &mut H) {
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@ -114,7 +112,6 @@ where
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}
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impl<N: Scalar + Copy, R: Copy, const D: usize> Copy for Isometry<N, R, D> where
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// DefaultAllocator: Allocator<N, D>,
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Owned<N, Const<D>>: Copy
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{
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}
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@ -163,7 +160,6 @@ impl<N: Scalar, R: AbstractRotation<N, D>, const D: usize> Isometry<N, R, D>
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impl<N: SimdRealField, R: AbstractRotation<N, D>, const D: usize> Isometry<N, R, D>
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where
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N::Element: SimdRealField,
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// DefaultAllocator: Allocator<N, D>,
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{
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/// Inverts `self`.
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///
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@ -318,7 +314,6 @@ where
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impl<N: SimdRealField, R: AbstractRotation<N, D>, const D: usize> Isometry<N, R, D>
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where
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N::Element: SimdRealField,
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// DefaultAllocator: Allocator<N, D>,
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{
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/// Transform the given point by this isometry.
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///
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@ -504,14 +499,13 @@ impl<N: SimdRealField, R, const D: usize> Isometry<N, R, D>
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}
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impl<N: SimdRealField, R, const D: usize> Eq for Isometry<N, R, D> where
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R: AbstractRotation<N, D> + Eq // DefaultAllocator: Allocator<N, D>,
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R: AbstractRotation<N, D> + Eq
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{
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}
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impl<N: SimdRealField, R, const D: usize> PartialEq for Isometry<N, R, D>
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where
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R: AbstractRotation<N, D> + PartialEq,
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// DefaultAllocator: Allocator<N, D>,
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{
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#[inline]
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fn eq(&self, right: &Self) -> bool {
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@ -522,7 +516,6 @@ where
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impl<N: RealField, R, const D: usize> AbsDiffEq for Isometry<N, R, D>
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where
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R: AbstractRotation<N, D> + AbsDiffEq<Epsilon = N::Epsilon>,
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// DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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type Epsilon = N::Epsilon;
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@ -542,7 +535,6 @@ where
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impl<N: RealField, R, const D: usize> RelativeEq for Isometry<N, R, D>
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where
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R: AbstractRotation<N, D> + RelativeEq<Epsilon = N::Epsilon>,
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// DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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#[inline]
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@ -568,7 +560,6 @@ where
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impl<N: RealField, R, const D: usize> UlpsEq for Isometry<N, R, D>
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where
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R: AbstractRotation<N, D> + UlpsEq<Epsilon = N::Epsilon>,
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// DefaultAllocator: Allocator<N, D>,
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N::Epsilon: Copy,
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{
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#[inline]
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@ -592,7 +583,6 @@ where
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impl<N: RealField + fmt::Display, R, const D: usize> fmt::Display for Isometry<N, R, D>
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where
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R: fmt::Display,
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// DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
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{
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fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
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let precision = f.precision().unwrap_or(3);
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@ -13,19 +13,17 @@ use rand::{
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use simba::scalar::SupersetOf;
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use simba::simd::SimdRealField;
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use crate::base::dimension::U2;
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use crate::base::{Vector2, Vector3};
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use crate::{
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AbstractRotation, Isometry, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3, Point,
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Point3, Rotation, Rotation3, Scalar, Translation, Translation2, Translation3, UnitComplex,
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UnitQuaternion,
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AbstractRotation, Const, Isometry, Isometry2, Isometry3, IsometryMatrix2, IsometryMatrix3,
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Point, Point3, Rotation, Rotation3, Scalar, Translation, Translation2, Translation3,
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UnitComplex, UnitQuaternion,
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};
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impl<N: SimdRealField, R: AbstractRotation<N, D>, const D: usize> Isometry<N, R, D>
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where
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N::Element: SimdRealField,
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// DefaultAllocator: Allocator<N, D>,
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{
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/// Creates a new identity isometry.
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///
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@ -73,7 +71,6 @@ where
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impl<N: SimdRealField, R: AbstractRotation<N, D>, const D: usize> One for Isometry<N, R, D>
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where
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N::Element: SimdRealField,
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// DefaultAllocator: Allocator<N, D>,
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{
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/// Creates a new identity isometry.
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#[inline]
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@ -87,7 +84,6 @@ impl<N: crate::RealField, R, const D: usize> Distribution<Isometry<N, R, D>> for
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where
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R: AbstractRotation<N, D>,
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Standard: Distribution<N> + Distribution<R>,
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// DefaultAllocator: Allocator<N, D>,
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{
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#[inline]
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fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> Isometry<N, R, D> {
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@ -101,8 +97,7 @@ where
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N: SimdRealField + Arbitrary + Send,
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N::Element: SimdRealField,
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R: AbstractRotation<N, D> + Arbitrary + Send,
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Owned<N, D>: Send,
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// DefaultAllocator: Allocator<N, D>,
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Owned<N, Const<D>>: Send,
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{
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#[inline]
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fn arbitrary(rng: &mut Gen) -> Self {
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@ -136,10 +131,7 @@ where
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/// ```
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#[inline]
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pub fn new(translation: Vector2<N>, angle: N) -> Self {
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Self::from_parts(
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Translation::from(translation),
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Rotation::<N, U2>::new(angle),
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)
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Self::from_parts(Translation::from(translation), Rotation::<N, 2>::new(angle))
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}
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/// Creates a new isometry from the given translation coordinates.
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@ -27,7 +27,6 @@ where
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N2: RealField + SupersetOf<N1>,
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R1: AbstractRotation<N1, D> + SubsetOf<R2>,
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R2: AbstractRotation<N2, D>,
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// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Isometry<N2, R2, D> {
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@ -63,7 +62,7 @@ where
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#[inline]
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fn is_in_subset(dq: &UnitDualQuaternion<N2>) -> bool {
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crate::is_convertible::<_, UnitQuaternion<N1>>(&dq.rotation())
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&& crate::is_convertible::<_, Translation<N1, _>>(&dq.translation())
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&& crate::is_convertible::<_, Translation<N1, 3>>(&dq.translation())
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}
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#[inline]
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@ -79,7 +78,6 @@ where
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N2: RealField + SupersetOf<N1>,
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R1: AbstractRotation<N1, D> + SubsetOf<R2>,
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R2: AbstractRotation<N2, D>,
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// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
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{
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#[inline]
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fn to_superset(&self) -> Similarity<N2, R2, D> {
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@ -154,8 +152,8 @@ where
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#[inline]
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fn is_in_subset(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> bool {
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let rot = m.fixed_slice::<D, D>(0, 0);
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let bottom = m.fixed_slice::<U1, D>(D, 0);
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let rot = m.fixed_slice::<Const<D>, Const<D>>(0, 0);
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let bottom = m.fixed_slice::<U1, Const<D>>(D, 0);
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// Scalar types agree.
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m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
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@ -167,7 +165,7 @@ where
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#[inline]
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fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> Self {
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let t = m.fixed_slice::<D, U1>(0, D).into_owned();
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let t = m.fixed_slice::<Const<D>, U1>(0, D).into_owned();
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let t = Translation {
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vector: crate::convert_unchecked(t),
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};
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@ -208,7 +206,6 @@ where
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R::Element: AbstractRotation<N::Element, D>,
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N::Element: Scalar + Copy,
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R::Element: Scalar + Copy,
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// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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{
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#[inline]
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fn from(arr: [Isometry<N::Element, R::Element, D>; 2]) -> Self {
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@ -227,7 +224,6 @@ where
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R::Element: AbstractRotation<N::Element, D>,
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N::Element: Scalar + Copy,
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R::Element: Scalar + Copy,
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// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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{
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#[inline]
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fn from(arr: [Isometry<N::Element, R::Element, D>; 4]) -> Self {
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@ -256,7 +252,6 @@ where
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R::Element: AbstractRotation<N::Element, D>,
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N::Element: Scalar + Copy,
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R::Element: Scalar + Copy,
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// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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{
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#[inline]
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fn from(arr: [Isometry<N::Element, R::Element, D>; 8]) -> Self {
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@ -293,7 +288,6 @@ where
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R::Element: AbstractRotation<N::Element, D>,
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N::Element: Scalar + Copy,
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R::Element: Scalar + Copy,
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// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
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{
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#[inline]
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fn from(arr: [Isometry<N::Element, R::Element, D>; 16]) -> Self {
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|
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@ -5,8 +5,8 @@ use simba::scalar::{ClosedAdd, ClosedMul};
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use simba::simd::SimdRealField;
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use crate::base::allocator::Allocator;
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use crate::base::dimension::{DimName, U1, U2, U3, U4};
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use crate::base::{DefaultAllocator, Unit, VectorN};
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use crate::base::dimension::{U1, U2, U3};
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use crate::base::{CVectorN, Const, DefaultAllocator, Unit};
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use crate::Scalar;
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use crate::geometry::{
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@ -68,10 +68,9 @@ macro_rules! isometry_binop_impl(
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($Op: ident, $op: ident;
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
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$action: expr; $($lives: tt),*) => {
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impl<$($lives ,)* N: SimdRealField, D: DimName, R> $Op<$Rhs> for $Lhs
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impl<$($lives ,)* N: SimdRealField, R, const D: usize> $Op<$Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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R: AbstractRotation<N, D>, {
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type Output = $Output;
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#[inline]
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@ -116,20 +115,18 @@ macro_rules! isometry_binop_assign_impl_all(
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$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
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[val] => $action_val: expr;
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[ref] => $action_ref: expr;) => {
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impl<N: SimdRealField, D: DimName, R> $OpAssign<$Rhs> for $Lhs
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impl<N: SimdRealField, R, const D: usize> $OpAssign<$Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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R: AbstractRotation<N, D> {
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#[inline]
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fn $op_assign(&mut $lhs, $rhs: $Rhs) {
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$action_val
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}
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}
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impl<'b, N: SimdRealField, D: DimName, R> $OpAssign<&'b $Rhs> for $Lhs
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impl<'b, N: SimdRealField, R, const D: usize> $OpAssign<&'b $Rhs> for $Lhs
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where N::Element: SimdRealField,
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R: AbstractRotation<N, D>,
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DefaultAllocator: Allocator<N, D> {
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R: AbstractRotation<N, D> {
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#[inline]
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fn $op_assign(&mut $lhs, $rhs: &'b $Rhs) {
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$action_ref
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@ -142,7 +139,7 @@ macro_rules! isometry_binop_assign_impl_all(
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// Isometry ÷ Isometry
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isometry_binop_impl_all!(
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Mul, mul;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
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self: Isometry<N, R, D>, rhs: Isometry<N, R, D>, Output = Isometry<N, R, D>;
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[val val] => &self * &rhs;
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[ref val] => self * &rhs;
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[val ref] => &self * rhs;
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|
@ -157,7 +154,7 @@ isometry_binop_impl_all!(
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isometry_binop_impl_all!(
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Div, div;
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self: Isometry<N, D, R>, rhs: Isometry<N, D, R>, Output = Isometry<N, D, R>;
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self: Isometry<N, R, D>, rhs: Isometry<N, R, D>, Output = Isometry<N, R, D>;
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[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
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[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
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[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
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||||
|
@ -167,7 +164,7 @@ isometry_binop_impl_all!(
|
|||
// Isometry ×= Translation
|
||||
isometry_binop_assign_impl_all!(
|
||||
MulAssign, mul_assign;
|
||||
self: Isometry<N, D, R>, rhs: Translation<N, D>;
|
||||
self: Isometry<N, R, D>, rhs: Translation<N, D>;
|
||||
[val] => *self *= &rhs;
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] {
|
||||
let shift = self.rotation.transform_vector(&rhs.vector);
|
||||
|
@ -179,7 +176,7 @@ isometry_binop_assign_impl_all!(
|
|||
// Isometry ÷= Isometry
|
||||
isometry_binop_assign_impl_all!(
|
||||
MulAssign, mul_assign;
|
||||
self: Isometry<N, D, R>, rhs: Isometry<N, D, R>;
|
||||
self: Isometry<N, R, D>, rhs: Isometry<N, R, D>;
|
||||
[val] => *self *= &rhs;
|
||||
[ref] => {
|
||||
let shift = self.rotation.transform_vector(&rhs.translation.vector);
|
||||
|
@ -190,7 +187,7 @@ isometry_binop_assign_impl_all!(
|
|||
|
||||
isometry_binop_assign_impl_all!(
|
||||
DivAssign, div_assign;
|
||||
self: Isometry<N, D, R>, rhs: Isometry<N, D, R>;
|
||||
self: Isometry<N, R, D>, rhs: Isometry<N, R, D>;
|
||||
[val] => *self /= &rhs;
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
);
|
||||
|
@ -199,16 +196,18 @@ isometry_binop_assign_impl_all!(
|
|||
// Isometry ÷= R
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(D, U1), (D, D) for D: DimName;
|
||||
self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
|
||||
(Const<D>, U1), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Isometry<N, Rotation<N, D>, D>, rhs: Rotation<N, D>;
|
||||
[val] => self.rotation *= rhs;
|
||||
[ref] => self.rotation *= rhs.clone();
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(D, U1), (D, D) for D: DimName;
|
||||
self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
|
||||
(Const<D>, U1), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Isometry<N, Rotation<N, D>, D>, rhs: Rotation<N, D>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -216,16 +215,18 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U3, U3), (U3, U3) for;
|
||||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
|
||||
(U3, U3), (U3, U3)
|
||||
const; for; where;
|
||||
self: Isometry<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>;
|
||||
[val] => self.rotation *= rhs;
|
||||
[ref] => self.rotation *= *rhs;
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U3, U3), (U3, U3) for;
|
||||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>;
|
||||
(U3, U3), (U3, U3)
|
||||
const; for; where;
|
||||
self: Isometry<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -233,16 +234,18 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U2, U2), (U2, U2) for;
|
||||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
|
||||
(U2, U2), (U2, U2)
|
||||
const; for; where;
|
||||
self: Isometry<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>;
|
||||
[val] => self.rotation *= rhs;
|
||||
[ref] => self.rotation *= *rhs;
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U2, U2), (U2, U2) for;
|
||||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
|
||||
(U2, U2), (U2, U2)
|
||||
const; for; where;
|
||||
self: Isometry<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -251,7 +254,7 @@ md_assign_impl_all!(
|
|||
// Isometry × Point
|
||||
isometry_binop_impl_all!(
|
||||
Mul, mul;
|
||||
self: Isometry<N, D, R>, right: Point<N, D>, Output = Point<N, D>;
|
||||
self: Isometry<N, R, D>, right: Point<N, D>, Output = Point<N, D>;
|
||||
[val val] => self.translation * self.rotation.transform_point(&right);
|
||||
[ref val] => &self.translation * self.rotation.transform_point(&right);
|
||||
[val ref] => self.translation * self.rotation.transform_point(right);
|
||||
|
@ -263,7 +266,7 @@ isometry_binop_impl_all!(
|
|||
Mul, mul;
|
||||
// TODO: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
|
||||
// i.e., right: Vector<N, D, S> where S: Storage<N, D>.
|
||||
self: Isometry<N, D, R>, right: VectorN<N, D>, Output = VectorN<N, D>;
|
||||
self: Isometry<N, R, D>, right: CVectorN<N, D>, Output = CVectorN<N, D>;
|
||||
[val val] => self.rotation.transform_vector(&right);
|
||||
[ref val] => self.rotation.transform_vector(&right);
|
||||
[val ref] => self.rotation.transform_vector(right);
|
||||
|
@ -275,7 +278,7 @@ isometry_binop_impl_all!(
|
|||
Mul, mul;
|
||||
// TODO: because of `transform_vector`, we cant use a generic storage type for the rhs vector,
|
||||
// i.e., right: Vector<N, D, S> where S: Storage<N, D>.
|
||||
self: Isometry<N, D, R>, right: Unit<VectorN<N, D>>, Output = Unit<VectorN<N, D>>;
|
||||
self: Isometry<N, R, D>, right: Unit<CVectorN<N, D>>, Output = Unit<CVectorN<N, D>>;
|
||||
[val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
|
||||
[ref val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
|
||||
[val ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
|
||||
|
@ -285,7 +288,7 @@ isometry_binop_impl_all!(
|
|||
// Isometry × Translation
|
||||
isometry_binop_impl_all!(
|
||||
Mul, mul;
|
||||
self: Isometry<N, D, R>, right: Translation<N, D>, Output = Isometry<N, D, R>;
|
||||
self: Isometry<N, R, D>, right: Translation<N, D>, Output = Isometry<N, R, D>;
|
||||
[val val] => &self * &right;
|
||||
[ref val] => self * &right;
|
||||
[val ref] => &self * right;
|
||||
|
@ -299,7 +302,7 @@ isometry_binop_impl_all!(
|
|||
// Translation × Isometry
|
||||
isometry_binop_impl_all!(
|
||||
Mul, mul;
|
||||
self: Translation<N, D>, right: Isometry<N, D, R>, Output = Isometry<N, D, R>;
|
||||
self: Translation<N, D>, right: Isometry<N, R, D>, Output = Isometry<N, R, D>;
|
||||
[val val] => Isometry::from_parts(self * right.translation, right.rotation);
|
||||
[ref val] => Isometry::from_parts(self * &right.translation, right.rotation);
|
||||
[val ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
|
||||
|
@ -308,13 +311,11 @@ isometry_binop_impl_all!(
|
|||
|
||||
macro_rules! isometry_from_composition_impl(
|
||||
($Op: ident, $op: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||||
$($Dims: ident),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField $(, $Dims: $DimsBound)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2> {
|
||||
impl<$($lives ,)* N: SimdRealField $(, const $Dims: usize)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField {
|
||||
type Output = $Output;
|
||||
|
||||
#[inline]
|
||||
|
@ -327,7 +328,7 @@ macro_rules! isometry_from_composition_impl(
|
|||
|
||||
macro_rules! isometry_from_composition_impl_all(
|
||||
($Op: ident, $op: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||||
$($Dims: ident),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||||
[val val] => $action_val_val: expr;
|
||||
[ref val] => $action_ref_val: expr;
|
||||
|
@ -336,25 +337,25 @@ macro_rules! isometry_from_composition_impl_all(
|
|||
|
||||
isometry_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
|
||||
$action_val_val; );
|
||||
|
||||
isometry_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
|
||||
$action_ref_val; 'a);
|
||||
|
||||
isometry_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||||
$action_val_ref; 'b);
|
||||
|
||||
isometry_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||||
$action_ref_ref; 'a, 'b);
|
||||
}
|
||||
|
@ -363,8 +364,8 @@ macro_rules! isometry_from_composition_impl_all(
|
|||
// Rotation × Translation
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Rotation<N, D>, right: Translation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Rotation<N, D>, right: Translation<N, D>, Output = Isometry<N, Rotation<N, D>, D>;
|
||||
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
|
||||
[ref val] => Isometry::from_parts(Translation::from(self * right.vector), self.clone());
|
||||
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
|
||||
|
@ -374,9 +375,9 @@ isometry_from_composition_impl_all!(
|
|||
// UnitQuaternion × Translation
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
self: UnitQuaternion<N>, right: Translation<N, U3>,
|
||||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: UnitQuaternion<N>, right: Translation<N, 3>,
|
||||
Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
|
||||
[ref val] => Isometry::from_parts(Translation::from( self * right.vector), *self);
|
||||
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
|
||||
|
@ -386,9 +387,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry × Rotation
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
|
||||
Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Isometry<N, Rotation<N, D>, D>, rhs: Rotation<N, D>,
|
||||
Output = Isometry<N, Rotation<N, D>, D>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
|
||||
|
@ -398,9 +399,9 @@ isometry_from_composition_impl_all!(
|
|||
// Rotation × Isometry
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
|
||||
Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Rotation<N, D>, right: Isometry<N, Rotation<N, D>, D>,
|
||||
Output = Isometry<N, Rotation<N, D>, D>;
|
||||
[val val] => &self * &right;
|
||||
[ref val] => self * &right;
|
||||
[val ref] => &self * right;
|
||||
|
@ -413,9 +414,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry ÷ Rotation
|
||||
isometry_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Isometry<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
|
||||
Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Isometry<N, Rotation<N, D>, D>, rhs: Rotation<N, D>,
|
||||
Output = Isometry<N, Rotation<N, D>, D>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
|
||||
|
@ -425,9 +426,9 @@ isometry_from_composition_impl_all!(
|
|||
// Rotation ÷ Isometry
|
||||
isometry_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Rotation<N, D>, right: Isometry<N, D, Rotation<N, D>>,
|
||||
Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Rotation<N, D>, right: Isometry<N, Rotation<N, D>, D>,
|
||||
Output = Isometry<N, Rotation<N, D>, D>;
|
||||
// TODO: don't call inverse explicitly?
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
|
@ -438,9 +439,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry × UnitQuaternion
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
|
||||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: Isometry<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation * rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
|
||||
|
@ -450,9 +451,9 @@ isometry_from_composition_impl_all!(
|
|||
// UnitQuaternion × Isometry
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
|
||||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: UnitQuaternion<N>, right: Isometry<N, UnitQuaternion<N>, 3>,
|
||||
Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => &self * &right;
|
||||
[ref val] => self * &right;
|
||||
[val ref] => &self * right;
|
||||
|
@ -465,9 +466,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry ÷ UnitQuaternion
|
||||
isometry_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U1);
|
||||
self: Isometry<N, U3, UnitQuaternion<N>>, rhs: UnitQuaternion<N>,
|
||||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: Isometry<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation / rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
|
||||
|
@ -477,9 +478,9 @@ isometry_from_composition_impl_all!(
|
|||
// UnitQuaternion ÷ Isometry
|
||||
isometry_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U1);
|
||||
self: UnitQuaternion<N>, right: Isometry<N, U3, UnitQuaternion<N>>,
|
||||
Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: UnitQuaternion<N>, right: Isometry<N, UnitQuaternion<N>, 3>,
|
||||
Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
// TODO: don't call inverse explicitly?
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
|
@ -490,8 +491,8 @@ isometry_from_composition_impl_all!(
|
|||
// Translation × Rotation
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Translation<N, D>, right: Rotation<N, D>, Output = Isometry<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Translation<N, D>, right: Rotation<N, D>, Output = Isometry<N, Rotation<N, D>, D>;
|
||||
[val val] => Isometry::from_parts(self, right);
|
||||
[ref val] => Isometry::from_parts(self.clone(), right);
|
||||
[val ref] => Isometry::from_parts(self, right.clone());
|
||||
|
@ -501,8 +502,8 @@ isometry_from_composition_impl_all!(
|
|||
// Translation × UnitQuaternion
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
self: Translation<N, U3>, right: UnitQuaternion<N>, Output = Isometry<N, U3, UnitQuaternion<N>>;
|
||||
;
|
||||
self: Translation<N, 3>, right: UnitQuaternion<N>, Output = Isometry<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => Isometry::from_parts(self, right);
|
||||
[ref val] => Isometry::from_parts(self.clone(), right);
|
||||
[val ref] => Isometry::from_parts(self, *right);
|
||||
|
@ -512,9 +513,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry × UnitComplex
|
||||
isometry_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1), (U2, U1);
|
||||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: Isometry<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>,
|
||||
Output = Isometry<N, UnitComplex<N>, 2>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation * rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation * *rhs);
|
||||
|
@ -524,9 +525,9 @@ isometry_from_composition_impl_all!(
|
|||
// Isometry ÷ UnitComplex
|
||||
isometry_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U2, U1), (U2, U1);
|
||||
self: Isometry<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: Isometry<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>,
|
||||
Output = Isometry<N, UnitComplex<N>, 2>;
|
||||
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
|
||||
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation / rhs); // TODO: do not clone.
|
||||
[val ref] => Isometry::from_parts(self.translation, self.rotation / *rhs);
|
||||
|
|
|
@ -9,7 +9,6 @@ where
|
|||
N::Element: SimdRealField,
|
||||
R: SimdValue<SimdBool = N::SimdBool> + AbstractRotation<N, D>,
|
||||
R::Element: AbstractRotation<N::Element, D>,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
type Element = Isometry<N::Element, R::Element, D>;
|
||||
type SimdBool = N::SimdBool;
|
||||
|
|
|
@ -7,21 +7,25 @@ macro_rules! md_impl(
|
|||
// Operator, operator method, and scalar bounds.
|
||||
$Op: ident, $op: ident $(where N: $($ScalarBounds: ident),*)*;
|
||||
// Storage dimensions, and dimension bounds.
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) for $($Dims: ident: $DimsBound: ident $(<$($BoundParam: ty),*>)*),+
|
||||
// [Optional] Extra allocator bounds.
|
||||
$(where $ConstraintType: ty: $ConstraintBound: ident<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*> )*;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty)
|
||||
// Const type declaration
|
||||
const $($D: ident),*;
|
||||
// Other generic type declarations.
|
||||
for $($DimsDecl: ident),*;
|
||||
// Where clause.
|
||||
where $($ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)*),*;
|
||||
// Argument identifiers and types + output.
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
// Operator actual implementation.
|
||||
$action: expr;
|
||||
// Lifetime.
|
||||
$($lives: tt),*) => {
|
||||
impl<$($lives ,)* N $(, $Dims: $DimsBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
|
||||
impl<$($lives ,)* N $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
|
||||
where N: Scalar + Zero + One + ClosedAdd + ClosedMul $($(+ $ScalarBounds)*)*,
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2> +
|
||||
Allocator<N, $R1, $C2>,
|
||||
$( $ConstraintType: $ConstraintBound<$( $ConstraintBoundParams $( = $EqBound )*),*> ),*
|
||||
$( $ConstraintType: $ConstraintBound$(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),*
|
||||
{
|
||||
type Output = $Result;
|
||||
|
||||
|
@ -40,9 +44,13 @@ macro_rules! md_impl_all(
|
|||
// Operator, operator method, and scalar bounds.
|
||||
$Op: ident, $op: ident $(where N: $($ScalarBounds: ident),*)*;
|
||||
// Storage dimensions, and dimension bounds.
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) for $($Dims: ident: $DimsBound: ident $(<$($BoundParam: ty),*>)*),+
|
||||
// [Optional] Extra allocator bounds.
|
||||
$(where $ConstraintType: ty: $ConstraintBound: ident<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*> )*;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty)
|
||||
// Const type declaration
|
||||
const $($D: ident),*;
|
||||
// Other generic type declarations.
|
||||
for $($DimsDecl: ident),*;
|
||||
// Where clause.
|
||||
where $($ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)*),*;
|
||||
// Argument identifiers and types + output.
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
// Operators actual implementations.
|
||||
|
@ -53,29 +61,37 @@ macro_rules! md_impl_all(
|
|||
|
||||
md_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),+
|
||||
$(where $ConstraintType: $ConstraintBound<$($ConstraintBoundParams $( = $EqBound )*),*>)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: $Rhs, Output = $Result;
|
||||
$action_val_val; );
|
||||
|
||||
md_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),+
|
||||
$(where $ConstraintType: $ConstraintBound<$($ConstraintBoundParams $( = $EqBound )*),*>)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Result;
|
||||
$action_ref_val; 'a);
|
||||
|
||||
md_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),+
|
||||
$(where $ConstraintType: $ConstraintBound<$($ConstraintBoundParams $( = $EqBound )*),*>)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Result;
|
||||
$action_val_ref; 'b);
|
||||
|
||||
md_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),+
|
||||
$(where $ConstraintType: $ConstraintBound<$($ConstraintBoundParams $( = $EqBound )*),*>)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Result;
|
||||
$action_ref_ref; 'a, 'b);
|
||||
}
|
||||
|
@ -85,18 +101,22 @@ macro_rules! md_impl_all(
|
|||
macro_rules! md_assign_impl(
|
||||
(
|
||||
// Operator, operator method, and scalar bounds.
|
||||
$Op: ident, $op: ident $(where N: $($ScalarBounds: ident),*)* $(for N::Element: $ElementBounds: ident)*;
|
||||
$Op: ident, $op: ident $(where N: $($ScalarBounds: ident),*)* $(for N::Element: $($ElementBounds: ident),*)*;
|
||||
// Storage dimensions, and dimension bounds.
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) for $($Dims: ident: $DimsBound: ident $(<$($BoundParam: ty),*>)*),*
|
||||
// [Optional] Extra allocator bounds.
|
||||
$(where $ConstraintType: ty: $ConstraintBound: ident $(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)* )*;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty)
|
||||
// Const type declaration
|
||||
const $($D: ident),*;
|
||||
// Other generic type declarations.
|
||||
for $($DimsDecl: ident),*;
|
||||
// Where clause.
|
||||
where $($ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)*),*;
|
||||
// Argument identifiers and types.
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
|
||||
// Actual implementation and lifetimes.
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N $(, $Dims: $DimsBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
|
||||
impl<$($lives ,)* N $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
|
||||
where N: Scalar + Zero + One + ClosedAdd + ClosedMul $($(+ $ScalarBounds)*)*,
|
||||
$(N::Element: $ElementBounds,)*
|
||||
$($(N::Element: $ElementBounds,)*)*
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2>,
|
||||
$( $ConstraintType: $ConstraintBound $(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),*
|
||||
|
@ -116,9 +136,13 @@ macro_rules! md_assign_impl_all(
|
|||
// Operator, operator method, and scalar bounds.
|
||||
$Op: ident, $op: ident $(where N: $($ScalarBounds: ident),*)* $(for N::Element: $($ElementBounds: ident),*)*;
|
||||
// Storage dimensions, and dimension bounds.
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) for $($Dims: ident: $DimsBound: ident $(<$($BoundParam: ty),*>)*),*
|
||||
// [Optional] Extra allocator bounds.
|
||||
$(where $ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)* )*;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty)
|
||||
// Const type declaration
|
||||
const $($D: ident),*;
|
||||
// Other generic type declarations.
|
||||
for $($DimsDecl: ident),*;
|
||||
// Where clause.
|
||||
where $($ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)*),*;
|
||||
// Argument identifiers and types.
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
|
||||
// Actual implementation and lifetimes.
|
||||
|
@ -126,15 +150,19 @@ macro_rules! md_assign_impl_all(
|
|||
[ref] => $action_ref: expr;) => {
|
||||
md_assign_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)* $(for N::Element: $($ElementBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),*
|
||||
$(where $ConstraintType: $ConstraintBound $(<$($ConstraintBoundParams $( = $EqBound )*),*>)*)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: $Rhs;
|
||||
$action_val; );
|
||||
|
||||
md_assign_impl!(
|
||||
$Op, $op $(where N: $($ScalarBounds),*)* $(for N::Element: $($ElementBounds),*)*;
|
||||
($R1, $C1),($R2, $C2) for $($Dims: $DimsBound $(<$($BoundParam),*>)*),*
|
||||
$(where $ConstraintType: $ConstraintBound $(<$($ConstraintBoundParams $( = $EqBound )*),*>)*)*;
|
||||
($R1, $C1),($R2, $C2)
|
||||
const $($D),*;
|
||||
for $($DimsDecl),*;
|
||||
where $($ConstraintType: $ConstraintBound$(<$($ConstraintBoundParams $( = $EqBound )*),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: &'b $Rhs;
|
||||
$action_ref; 'b);
|
||||
}
|
||||
|
@ -144,16 +172,23 @@ macro_rules! md_assign_impl_all(
|
|||
/// Macro for the implementation of addition and subtraction.
|
||||
macro_rules! add_sub_impl(
|
||||
($Op: ident, $op: ident, $bound: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(-> ($RRes: ty))* for $($Dims: ident: $DimsBound: ident $(<$($BoundParam: ty),*>)*),+;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(-> ($RRes: ty))*
|
||||
// Const type declaration
|
||||
const $($D: ident),*;
|
||||
// Other generic type declarations.
|
||||
for $($DimsDecl: ident),*;
|
||||
// Where clause.
|
||||
where $($ConstraintType: ty: $ConstraintBound: ident$(<$($ConstraintBoundParams: ty $( = $EqBound: ty )*),*>)*),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N $(, $Dims: $DimsBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
|
||||
impl<$($lives ,)* N $(, $DimsDecl)* $(, const $D: usize)*> $Op<$Rhs> for $Lhs
|
||||
where N: Scalar + $bound,
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2> +
|
||||
SameShapeAllocator<N, $R1, $C1, $R2, $C2>,
|
||||
ShapeConstraint: SameNumberOfRows<$R1, $R2 $(, Representative = $RRes)*> +
|
||||
SameNumberOfColumns<$C1, $C2> {
|
||||
SameNumberOfColumns<$C1, $C2>,
|
||||
$( $ConstraintType: $ConstraintBound$(<$( $ConstraintBoundParams $( = $EqBound )*),*>)* ),* {
|
||||
type Output = $Result;
|
||||
|
||||
#[inline]
|
||||
|
@ -168,14 +203,11 @@ macro_rules! add_sub_impl(
|
|||
/// Macro for the implementation of assignment-addition and assignment-subtraction.
|
||||
macro_rules! add_sub_assign_impl(
|
||||
($Op: ident, $op: ident, $bound: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) for $($Dims: ident: $DimsBound: ident),+;
|
||||
$(const $D: ident),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N $(, $Dims: $DimsBound)*> $Op<$Rhs> for $Lhs
|
||||
where N: Scalar + $bound,
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2>,
|
||||
ShapeConstraint: SameNumberOfRows<$R1, $R2> + SameNumberOfColumns<$C1, $C2> {
|
||||
impl<$($lives ,)* N $(, const $D: usize),*> $Op<$Rhs> for $Lhs
|
||||
where N: Scalar + $bound {
|
||||
#[inline]
|
||||
fn $op(&mut $lhs, $rhs: $Rhs) {
|
||||
$action
|
||||
|
|
|
@ -17,7 +17,7 @@ use simba::simd::SimdPartialOrd;
|
|||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::iter::{MatrixIter, MatrixIterMut};
|
||||
use crate::base::{Const, DefaultAllocator, Scalar, VectorN};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator, Scalar, VectorN};
|
||||
|
||||
/// A point in an euclidean space.
|
||||
///
|
||||
|
@ -64,7 +64,7 @@ impl<N: Scalar + Copy, const D: usize> Copy for Point<N, D>
|
|||
|
||||
#[cfg(feature = "bytemuck")]
|
||||
unsafe impl<N: Scalar, const D: usize> bytemuck::Zeroable for Point<N, D> where
|
||||
VectorN<N, Const<D>>: bytemuck::Zeroable // DefaultAllocator: Allocator<N, D>,
|
||||
VectorN<N, Const<D>>: bytemuck::Zeroable
|
||||
{
|
||||
}
|
||||
|
||||
|
@ -73,17 +73,11 @@ unsafe impl<N: Scalar, const D: usize> bytemuck::Pod for Point<N, D>
|
|||
where
|
||||
N: Copy,
|
||||
VectorN<N, Const<D>>: bytemuck::Pod,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
// <DefaultAllocator as Allocator<N, D>>::Buffer: Copy,
|
||||
{
|
||||
}
|
||||
|
||||
#[cfg(feature = "serde-serialize")]
|
||||
impl<N: Scalar, const D: usize> Serialize for Point<N, D>
|
||||
// where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
// <DefaultAllocator as Allocator<N, D>>::Buffer: Serialize,
|
||||
{
|
||||
impl<N: Scalar + Serialize, const D: usize> Serialize for Point<N, D> {
|
||||
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
||||
where
|
||||
S: Serializer,
|
||||
|
@ -93,16 +87,12 @@ impl<N: Scalar, const D: usize> Serialize for Point<N, D>
|
|||
}
|
||||
|
||||
#[cfg(feature = "serde-serialize")]
|
||||
impl<'a, N: Scalar, const D: usize> Deserialize<'a> for Point<N, D>
|
||||
// where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
// <DefaultAllocator as Allocator<N, D>>::Buffer: Deserialize<'a>,
|
||||
{
|
||||
impl<'a, N: Scalar + Deserialize<'a>, const D: usize> Deserialize<'a> for Point<N, D> {
|
||||
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
|
||||
where
|
||||
Des: Deserializer<'a>,
|
||||
{
|
||||
let coords = VectorN::<N, D>::deserialize(deserializer)?;
|
||||
let coords = CVectorN::<N, D>::deserialize(deserializer)?;
|
||||
|
||||
Ok(Self::from(coords))
|
||||
}
|
||||
|
@ -113,7 +103,6 @@ impl<N, const D: usize> Abomonation for Point<N, D>
|
|||
where
|
||||
N: Scalar,
|
||||
VectorN<N, Const<D>>: Abomonation,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
|
||||
self.coords.entomb(writer)
|
||||
|
@ -312,7 +301,6 @@ impl<N: Scalar, const D: usize> Point<N, D>
|
|||
|
||||
impl<N: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Point<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
type Epsilon = N::Epsilon;
|
||||
|
@ -330,7 +318,6 @@ where
|
|||
|
||||
impl<N: Scalar + RelativeEq, const D: usize> RelativeEq for Point<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -352,7 +339,6 @@ where
|
|||
|
||||
impl<N: Scalar + UlpsEq, const D: usize> UlpsEq for Point<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
|
|
@ -10,10 +10,10 @@ use rand::{
|
|||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::{DefaultAllocator, Scalar, VectorN};
|
||||
use crate::base::{CVectorN, DefaultAllocator, Scalar};
|
||||
use crate::{
|
||||
Const, Point1, Point2, Point3, Point4, Point5, Point6, Vector1, Vector2, Vector3, Vector4,
|
||||
Vector5, Vector6,
|
||||
Vector5, Vector6, VectorN,
|
||||
};
|
||||
use simba::scalar::{ClosedDiv, SupersetOf};
|
||||
|
||||
|
@ -52,7 +52,7 @@ impl<N: Scalar, const D: usize> Point<N, D>
|
|||
where
|
||||
N: Zero,
|
||||
{
|
||||
Self::from(VectorN::from_element(N::zero()))
|
||||
Self::from(CVectorN::from_element(N::zero()))
|
||||
}
|
||||
|
||||
/// Creates a new point from a slice.
|
||||
|
@ -71,7 +71,7 @@ impl<N: Scalar, const D: usize> Point<N, D>
|
|||
/// ```
|
||||
#[inline]
|
||||
pub fn from_slice(components: &[N]) -> Self {
|
||||
Self::from(VectorN::from_row_slice(components))
|
||||
Self::from(CVectorN::from_row_slice(components))
|
||||
}
|
||||
|
||||
/// Creates a new point from its homogeneous vector representation.
|
||||
|
@ -131,7 +131,6 @@ impl<N: Scalar, const D: usize> Point<N, D>
|
|||
pub fn cast<To: Scalar>(self) -> Point<To, D>
|
||||
where
|
||||
Point<To, D>: SupersetOf<Self>,
|
||||
// DefaultAllocator: Allocator<To, D>,
|
||||
{
|
||||
crate::convert(self)
|
||||
}
|
||||
|
@ -148,37 +147,35 @@ impl<N: Scalar + Bounded, const D: usize> Bounded for Point<N, D>
|
|||
{
|
||||
#[inline]
|
||||
fn max_value() -> Self {
|
||||
Self::from(VectorN::max_value())
|
||||
Self::from(CVectorN::max_value())
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn min_value() -> Self {
|
||||
Self::from(VectorN::min_value())
|
||||
Self::from(CVectorN::min_value())
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "rand-no-std")]
|
||||
impl<N: Scalar, const D: usize> Distribution<Point<N, D>> for Standard
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Standard: Distribution<N>,
|
||||
{
|
||||
/// Generate a `Point` where each coordinate is an independent variate from `[0, 1)`.
|
||||
#[inline]
|
||||
fn sample<'a, G: Rng + ?Sized>(&self, rng: &mut G) -> Point<N, D> {
|
||||
Point::from(rng.gen::<VectorN<N, D>>())
|
||||
Point::from(rng.gen::<CVectorN<N, D>>())
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "arbitrary")]
|
||||
impl<N: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Point<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
<DefaultAllocator as Allocator<N, Const<D>>>::Buffer: Send,
|
||||
{
|
||||
#[inline]
|
||||
fn arbitrary(g: &mut Gen) -> Self {
|
||||
Self::from(VectorN::arbitrary(g))
|
||||
Self::from(CVectorN::arbitrary(g))
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -20,7 +20,6 @@ impl<N1, N2, const D: usize> SubsetOf<Point<N2, D>> for Point<N1, D>
|
|||
where
|
||||
N1: Scalar,
|
||||
N2: Scalar + SupersetOf<N1>,
|
||||
// DefaultAllocator: Allocator<N2, D> + Allocator<N1, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Point<N2, D> {
|
||||
|
@ -58,12 +57,12 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(v: &VectorN<N2, DimNameSum<Const<D>, U1>>) -> bool {
|
||||
crate::is_convertible::<_, VectorN<N1, DimNameSum<D, U1>>>(v) && !v[D].is_zero()
|
||||
crate::is_convertible::<_, VectorN<N1, DimNameSum<Const<D>, U1>>>(v) && !v[D].is_zero()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(v: &VectorN<N2, DimNameSum<Const<D>, U1>>) -> Self {
|
||||
let coords = v.fixed_slice::<D, U1>(0, 0) / v[D].inlined_clone();
|
||||
let coords = v.fixed_slice::<Const<D>, U1>(0, 0) / v[D].inlined_clone();
|
||||
Self {
|
||||
coords: crate::convert_unchecked(coords),
|
||||
}
|
||||
|
@ -97,7 +96,6 @@ impl<N: Scalar + Copy + PrimitiveSimdValue, const D: usize> From<[Point<N::Eleme
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 2]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
<DefaultAllocator as Allocator<N::Element, Const<D>>>::Buffer: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -111,7 +109,6 @@ impl<N: Scalar + Copy + PrimitiveSimdValue, const D: usize> From<[Point<N::Eleme
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 4]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
<DefaultAllocator as Allocator<N::Element, Const<D>>>::Buffer: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -130,7 +127,6 @@ impl<N: Scalar + Copy + PrimitiveSimdValue, const D: usize> From<[Point<N::Eleme
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 8]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
<DefaultAllocator as Allocator<N::Element, Const<D>>>::Buffer: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -153,7 +149,6 @@ impl<N: Scalar + Copy + PrimitiveSimdValue, const D: usize> From<[Point<N::Eleme
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 16]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
<DefaultAllocator as Allocator<N::Element, Const<D>>>::Buffer: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
|
|
@ -9,7 +9,7 @@ use crate::base::allocator::{Allocator, SameShapeAllocator};
|
|||
use crate::base::constraint::{
|
||||
AreMultipliable, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint,
|
||||
};
|
||||
use crate::base::dimension::{Dim, DimName, U1};
|
||||
use crate::base::dimension::{Dim, U1};
|
||||
use crate::base::storage::Storage;
|
||||
use crate::base::{Const, DefaultAllocator, Matrix, Scalar, Vector, VectorSum};
|
||||
|
||||
|
@ -79,74 +79,101 @@ impl<'a, N: Scalar + ClosedNeg, const D: usize> Neg for &'a Point<N, D>
|
|||
|
||||
// Point - Point
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D, U1), (D, U1);
|
||||
self: &'a Point<N, D>, right: &'b Point<N, D>, Output = VectorSum<N, D, D>;
|
||||
(Const<D>, U1), (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Point<N, D>, right: &'b Point<N, D>, Output = VectorSum<N, Const<D>, Const<D>>;
|
||||
&self.coords - &right.coords; 'a, 'b);
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D, U1), (D, U1);
|
||||
self: &'a Point<N, D>, right: Point<N, D>, Output = VectorSum<N, D, D>;
|
||||
(Const<D>, U1), (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: &'a Point<N, D>, right: Point<N, D>, Output = VectorSum<N, Const<D>, Const<D>>;
|
||||
&self.coords - right.coords; 'a);
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D, U1), (D, U1);
|
||||
self: Point<N, D>, right: &'b Point<N, D>, Output = VectorSum<N, D, D>;
|
||||
(Const<D>, U1), (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Point<N, D>, right: &'b Point<N, D>, Output = VectorSum<N, Const<D>, Const<D>>;
|
||||
self.coords - &right.coords; 'b);
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D, U1), (D, U1);
|
||||
self: Point<N, D>, right: Point<N, D>, Output = VectorSum<N, D, D>;
|
||||
(Const<D>, U1), (Const<D>, U1)
|
||||
const D; for; where;
|
||||
self: Point<N, D>, right: Point<N, D>, Output = VectorSum<N, Const<D>, Const<D>>;
|
||||
self.coords - right.coords; );
|
||||
|
||||
// Point - Vector
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: &'a Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(&self.coords - right); 'a, 'b);
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(&self.coords - &right); 'a); // TODO: should not be a ref to `right`.
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(self.coords - right); 'b);
|
||||
|
||||
add_sub_impl!(Sub, sub, ClosedSub;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(self.coords - right); );
|
||||
|
||||
// Point + Vector
|
||||
add_sub_impl!(Add, add, ClosedAdd;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: &'a Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(&self.coords + right); 'a, 'b);
|
||||
|
||||
add_sub_impl!(Add, add, ClosedAdd;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: &'a Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(&self.coords + &right); 'a); // TODO: should not be a ref to `right`.
|
||||
|
||||
add_sub_impl!(Add, add, ClosedAdd;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: Point<N, D1>, right: &'b Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(self.coords + right); 'b);
|
||||
|
||||
add_sub_impl!(Add, add, ClosedAdd;
|
||||
(D1, U1), (D2, U1) -> (D1) for D1: DimName, D2: Dim, SB: Storage<N, D2>;
|
||||
(Const<D1>, U1), (D2, U1) -> (Const<D1>)
|
||||
const D1;
|
||||
for D2, SB;
|
||||
where D2: Dim, SB: Storage<N, D2>;
|
||||
self: Point<N, D1>, right: Vector<N, D2, SB>, Output = Point<N, D1>;
|
||||
Self::Output::from(self.coords + right); );
|
||||
|
||||
// XXX: replace by the shared macro: add_sub_assign_impl
|
||||
// TODO: replace by the shared macro: add_sub_assign_impl?
|
||||
macro_rules! op_assign_impl(
|
||||
($($TraitAssign: ident, $method_assign: ident, $bound: ident);* $(;)*) => {$(
|
||||
impl<'b, N, D2: Dim, SB, const D1: usize> $TraitAssign<&'b Vector<N, D2, SB>> for Point<N, D1>
|
||||
where N: Scalar + $bound,
|
||||
SB: Storage<N, D2>,
|
||||
// DefaultAllocator: Allocator<N, D1>,
|
||||
ShapeConstraint: SameNumberOfRows<Const<D1>, D2> {
|
||||
|
||||
#[inline]
|
||||
|
@ -158,8 +185,7 @@ macro_rules! op_assign_impl(
|
|||
impl<N, D2: Dim, SB, const D1: usize> $TraitAssign<Vector<N, D2, SB>> for Point<N, D1>
|
||||
where N: Scalar + $bound,
|
||||
SB: Storage<N, D2>,
|
||||
// DefaultAllocator: Allocator<N, D1>,
|
||||
ShapeConstraint: SameNumberOfRows<D1, D2> {
|
||||
ShapeConstraint: SameNumberOfRows<Const<D1>, D2> {
|
||||
|
||||
#[inline]
|
||||
fn $method_assign(&mut self, right: Vector<N, D2, SB>) {
|
||||
|
@ -181,9 +207,12 @@ op_assign_impl!(
|
|||
*/
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(R1, C1), (D2, U1) for R1: DimName, C1: Dim, D2: DimName, SA: Storage<N, R1, C1>
|
||||
where ShapeConstraint: AreMultipliable<R1, C1, D2, U1>;
|
||||
self: Matrix<N, R1, C1, SA>, right: Point<N, D2>, Output = Point<N, R1>;
|
||||
(Const<R1>, Const<C1>), (Const<D2>, U1)
|
||||
const D2, R1, C1;
|
||||
for SA;
|
||||
where SA: Storage<N, Const<R1>, Const<C1>>,
|
||||
ShapeConstraint: AreMultipliable<Const<R1>, Const<C1>, Const<D2>, U1>;
|
||||
self: Matrix<N, Const<R1>, Const<C1>, SA>, right: Point<N, D2>, Output = Point<N, R1>;
|
||||
[val val] => Point::from(self * right.coords);
|
||||
[ref val] => Point::from(self * right.coords);
|
||||
[val ref] => Point::from(self * &right.coords);
|
||||
|
|
|
@ -7,7 +7,6 @@ use crate::geometry::Point;
|
|||
impl<N: Scalar + SimdValue, const D: usize> SimdValue for Point<N, D>
|
||||
where
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
type Element = Point<N::Element, D>;
|
||||
type SimdBool = N::SimdBool;
|
||||
|
|
|
@ -54,10 +54,9 @@ use std::ops::{
|
|||
Add, AddAssign, Div, DivAssign, Index, IndexMut, Mul, MulAssign, Neg, Sub, SubAssign,
|
||||
};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{U1, U3, U4};
|
||||
use crate::base::dimension::U3;
|
||||
use crate::base::storage::Storage;
|
||||
use crate::base::{DefaultAllocator, Scalar, Unit, Vector, Vector3};
|
||||
use crate::base::{Const, Scalar, Unit, Vector, Vector3};
|
||||
use crate::SimdRealField;
|
||||
|
||||
use crate::geometry::{Point3, Quaternion, Rotation, UnitQuaternion};
|
||||
|
@ -80,14 +79,11 @@ impl<N: Scalar> IndexMut<usize> for Quaternion<N> {
|
|||
|
||||
macro_rules! quaternion_op_impl(
|
||||
($Op: ident, $op: ident;
|
||||
($LhsRDim: ident, $LhsCDim: ident), ($RhsRDim: ident, $RhsCDim: ident)
|
||||
$(for $Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty $(=> $VDimA: ty, $VDimB: ty)*;
|
||||
$($Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField $(, $Storage: $StoragesBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, $LhsRDim, $LhsCDim> +
|
||||
Allocator<N, $RhsRDim, $RhsCDim> {
|
||||
where N::Element: SimdRealField {
|
||||
type Output = $Result;
|
||||
|
||||
#[inline]
|
||||
|
@ -101,63 +97,63 @@ macro_rules! quaternion_op_impl(
|
|||
// Quaternion + Quaternion
|
||||
quaternion_op_impl!(
|
||||
Add, add;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(&self.coords + &rhs.coords);
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Add, add;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(&self.coords + rhs.coords);
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Add, add;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(self.coords + &rhs.coords);
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Add, add;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(self.coords + rhs.coords); );
|
||||
|
||||
// Quaternion - Quaternion
|
||||
quaternion_op_impl!(
|
||||
Sub, sub;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(&self.coords - &rhs.coords);
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Sub, sub;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(&self.coords - rhs.coords);
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Sub, sub;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(self.coords - &rhs.coords);
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Sub, sub;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::from(self.coords - rhs.coords); );
|
||||
|
||||
// Quaternion × Quaternion
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
Quaternion::new(
|
||||
self[3] * rhs[3] - self[0] * rhs[0] - self[1] * rhs[1] - self[2] * rhs[2],
|
||||
|
@ -168,218 +164,218 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
self * &rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>, Output = Quaternion<N>;
|
||||
&self * rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: Quaternion<N>, rhs: Quaternion<N>, Output = Quaternion<N>;
|
||||
&self * &rhs; );
|
||||
|
||||
// UnitQuaternion × UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::new_unchecked(self.quaternion() * rhs.quaternion());
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
self * &rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
&self * rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
&self * &rhs; );
|
||||
|
||||
// UnitQuaternion ÷ UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
self / &rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
&self / rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U4, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>, Output = UnitQuaternion<N>;
|
||||
&self / &rhs; );
|
||||
|
||||
// UnitQuaternion × Rotation
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
// TODO: can we avoid the conversion from a rotation matrix?
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
// TODO: can we avoid the conversion from a rotation matrix?
|
||||
self * UnitQuaternion::<N>::from_rotation_matrix(rhs);
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitQuaternion<N>, rhs: Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self * UnitQuaternion::<N>::from_rotation_matrix(&rhs);
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self * UnitQuaternion::<N>::from_rotation_matrix(rhs);
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self * UnitQuaternion::<N>::from_rotation_matrix(&rhs); );
|
||||
|
||||
// UnitQuaternion ÷ Rotation
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
// TODO: can we avoid the conversion to a rotation matrix?
|
||||
self / UnitQuaternion::<N>::from_rotation_matrix(rhs);
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: &'a UnitQuaternion<N>, rhs: Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self / UnitQuaternion::<N>::from_rotation_matrix(&rhs);
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self / UnitQuaternion::<N>::from_rotation_matrix(rhs);
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, U3>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, 3>,
|
||||
Output = UnitQuaternion<N>;
|
||||
self / UnitQuaternion::<N>::from_rotation_matrix(&rhs); );
|
||||
|
||||
// Rotation × UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U3), (U4, U1);
|
||||
self: &'a Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a Rotation<N, 3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
// TODO: can we avoid the conversion from a rotation matrix?
|
||||
UnitQuaternion::<N>::from_rotation_matrix(self) * rhs;
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U3), (U4, U1);
|
||||
self: &'a Rotation<N, U3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a Rotation<N, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(self) * rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U3), (U4, U1);
|
||||
self: Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: Rotation<N, 3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(&self) * rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U3, U3), (U4, U1);
|
||||
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: Rotation<N, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(&self) * rhs; );
|
||||
|
||||
// Rotation ÷ UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U3), (U4, U1);
|
||||
self: &'a Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
// TODO: can we avoid the conversion from a rotation matrix?
|
||||
;
|
||||
self: &'a Rotation<N, 3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
// TODO: can we avoid the conversion from a rotation matrix?
|
||||
UnitQuaternion::<N>::from_rotation_matrix(self) / rhs;
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U3), (U4, U1);
|
||||
self: &'a Rotation<N, U3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: &'a Rotation<N, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(self) / rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U3), (U4, U1);
|
||||
self: Rotation<N, U3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: Rotation<N, 3>, rhs: &'b UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(&self) / rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Div, div;
|
||||
(U3, U3), (U4, U1);
|
||||
self: Rotation<N, U3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N> => U3, U3;
|
||||
;
|
||||
self: Rotation<N, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = UnitQuaternion<N>;
|
||||
UnitQuaternion::<N>::from_rotation_matrix(&self) / rhs; );
|
||||
|
||||
// UnitQuaternion × Vector
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Vector<N, U3, SB>,
|
||||
Output = Vector3<N> => U3, U4;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Vector<N, Const<3>, SB>,
|
||||
Output = Vector3<N>;
|
||||
{
|
||||
let two: N = crate::convert(2.0f64);
|
||||
let t = self.as_ref().vector().cross(rhs) * two;
|
||||
|
@ -391,89 +387,89 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: &'a UnitQuaternion<N>, rhs: Vector<N, U3, SB>,
|
||||
Output = Vector3<N> => U3, U4;
|
||||
Output = Vector3<N>;
|
||||
self * &rhs;
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: UnitQuaternion<N>, rhs: &'b Vector<N, U3, SB>,
|
||||
Output = Vector3<N> => U3, U4;
|
||||
Output = Vector3<N>;
|
||||
&self * rhs;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: UnitQuaternion<N>, rhs: Vector<N, U3, SB>,
|
||||
Output = Vector3<N> => U3, U4;
|
||||
Output = Vector3<N>;
|
||||
&self * &rhs; );
|
||||
|
||||
// UnitQuaternion × Point
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Point3<N>,
|
||||
Output = Point3<N> => U3, U4;
|
||||
Output = Point3<N>;
|
||||
Point3::from(self * &rhs.coords);
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: &'a UnitQuaternion<N>, rhs: Point3<N>,
|
||||
Output = Point3<N> => U3, U4;
|
||||
Output = Point3<N>;
|
||||
Point3::from(self * rhs.coords);
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: &'b Point3<N>,
|
||||
Output = Point3<N> => U3, U4;
|
||||
Output = Point3<N>;
|
||||
Point3::from(self * &rhs.coords);
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, rhs: Point3<N>,
|
||||
Output = Point3<N> => U3, U4;
|
||||
Output = Point3<N>;
|
||||
Point3::from(self * rhs.coords); );
|
||||
|
||||
// UnitQuaternion × Unit<Vector>
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: &'a UnitQuaternion<N>, rhs: &'b Unit<Vector<N, U3, SB>>,
|
||||
Output = Unit<Vector3<N>> => U3, U4;
|
||||
Output = Unit<Vector3<N>>;
|
||||
Unit::new_unchecked(self * rhs.as_ref());
|
||||
'a, 'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: &'a UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
|
||||
Output = Unit<Vector3<N>> => U3, U4;
|
||||
Output = Unit<Vector3<N>>;
|
||||
Unit::new_unchecked(self * rhs.into_inner());
|
||||
'a);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: UnitQuaternion<N>, rhs: &'b Unit<Vector<N, U3, SB>>,
|
||||
Output = Unit<Vector3<N>> => U3, U4;
|
||||
Output = Unit<Vector3<N>>;
|
||||
Unit::new_unchecked(self * rhs.as_ref());
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1) for SB: Storage<N, U3> ;
|
||||
SB: Storage<N, Const<3>> ;
|
||||
self: UnitQuaternion<N>, rhs: Unit<Vector<N, U3, SB>>,
|
||||
Output = Unit<Vector3<N>> => U3, U4;
|
||||
Output = Unit<Vector3<N>>;
|
||||
Unit::new_unchecked(self * rhs.into_inner()); );
|
||||
|
||||
macro_rules! scalar_op_impl(
|
||||
|
@ -564,13 +560,10 @@ where
|
|||
|
||||
macro_rules! quaternion_op_impl(
|
||||
($OpAssign: ident, $op_assign: ident;
|
||||
($LhsRDim: ident, $LhsCDim: ident), ($RhsRDim: ident, $RhsCDim: ident);
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty $(=> $VDimA: ty, $VDimB: ty)*;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField> $OpAssign<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, $LhsRDim, $LhsCDim> +
|
||||
Allocator<N, $RhsRDim, $RhsCDim> {
|
||||
where N::Element: SimdRealField {
|
||||
|
||||
#[inline]
|
||||
fn $op_assign(&mut $lhs, $rhs: $Rhs) {
|
||||
|
@ -583,35 +576,30 @@ macro_rules! quaternion_op_impl(
|
|||
// Quaternion += Quaternion
|
||||
quaternion_op_impl!(
|
||||
AddAssign, add_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>;
|
||||
self.coords += &rhs.coords;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
AddAssign, add_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: Quaternion<N>;
|
||||
self.coords += rhs.coords; );
|
||||
|
||||
// Quaternion -= Quaternion
|
||||
quaternion_op_impl!(
|
||||
SubAssign, sub_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>;
|
||||
self.coords -= &rhs.coords;
|
||||
'b);
|
||||
|
||||
quaternion_op_impl!(
|
||||
SubAssign, sub_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: Quaternion<N>;
|
||||
self.coords -= rhs.coords; );
|
||||
|
||||
// Quaternion ×= Quaternion
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: &'b Quaternion<N>;
|
||||
{
|
||||
let res = &*self * rhs;
|
||||
|
@ -622,14 +610,12 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: Quaternion<N>, rhs: Quaternion<N>;
|
||||
*self *= &rhs; );
|
||||
|
||||
// UnitQuaternion ×= UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>;
|
||||
{
|
||||
let res = &*self * rhs;
|
||||
|
@ -639,14 +625,12 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>;
|
||||
*self *= &rhs; );
|
||||
|
||||
// UnitQuaternion ÷= UnitQuaternion
|
||||
quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: &'b UnitQuaternion<N>;
|
||||
{
|
||||
let res = &*self / rhs;
|
||||
|
@ -656,15 +640,13 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U4, U1);
|
||||
self: UnitQuaternion<N>, rhs: UnitQuaternion<N>;
|
||||
*self /= &rhs; );
|
||||
|
||||
// UnitQuaternion ×= Rotation
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, U3> => U3, U3;
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, 3>;
|
||||
{
|
||||
let res = &*self * rhs;
|
||||
self.as_mut_unchecked().coords.copy_from(&res.as_ref().coords);
|
||||
|
@ -673,15 +655,13 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
MulAssign, mul_assign;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, U3> => U3, U3;
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, 3>;
|
||||
*self *= &rhs; );
|
||||
|
||||
// UnitQuaternion ÷= Rotation
|
||||
quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, U3> => U3, U3;
|
||||
self: UnitQuaternion<N>, rhs: &'b Rotation<N, 3>;
|
||||
{
|
||||
let res = &*self / rhs;
|
||||
self.as_mut_unchecked().coords.copy_from(&res.as_ref().coords);
|
||||
|
@ -690,6 +670,5 @@ quaternion_op_impl!(
|
|||
|
||||
quaternion_op_impl!(
|
||||
DivAssign, div_assign;
|
||||
(U4, U1), (U3, U3);
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, U3> => U3, U3;
|
||||
self: UnitQuaternion<N>, rhs: Rotation<N, 3>;
|
||||
*self /= &rhs; );
|
||||
|
|
|
@ -64,7 +64,6 @@ pub struct Rotation<N: Scalar, const D: usize>
|
|||
|
||||
impl<N: Scalar + hash::Hash, const D: usize> hash::Hash for Rotation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
<DefaultAllocator as Allocator<N, Const<D>, Const<D>>>::Buffer: hash::Hash,
|
||||
{
|
||||
fn hash<H: hash::Hasher>(&self, state: &mut H) {
|
||||
|
@ -73,14 +72,12 @@ where
|
|||
}
|
||||
|
||||
impl<N: Scalar + Copy, const D: usize> Copy for Rotation<N, D> where
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
<DefaultAllocator as Allocator<N, Const<D>, Const<D>>>::Buffer: Copy
|
||||
{
|
||||
}
|
||||
|
||||
impl<N: Scalar, const D: usize> Clone for Rotation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
<DefaultAllocator as Allocator<N, Const<D>, Const<D>>>::Buffer: Clone,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -93,8 +90,7 @@ where
|
|||
impl<N, const D: usize> Abomonation for Rotation<N, D>
|
||||
where
|
||||
N: Scalar,
|
||||
CMatrixN<N, Const<D>>: Abomonation,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
CMatrixN<N, D>: Abomonation,
|
||||
{
|
||||
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
|
||||
self.matrix.entomb(writer)
|
||||
|
@ -112,8 +108,7 @@ where
|
|||
#[cfg(feature = "serde-serialize")]
|
||||
impl<N: Scalar, const D: usize> Serialize for Rotation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
Owned<N, D, D>: Serialize,
|
||||
Owned<N, Const<D>, Const<D>>: Serialize,
|
||||
{
|
||||
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
||||
where
|
||||
|
@ -126,8 +121,7 @@ where
|
|||
#[cfg(feature = "serde-serialize")]
|
||||
impl<'a, N: Scalar, const D: usize> Deserialize<'a> for Rotation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
Owned<N, D, D>: Deserialize<'a>,
|
||||
Owned<N, Const<D>, Const<D>>: Deserialize<'a>,
|
||||
{
|
||||
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
|
||||
where
|
||||
|
@ -286,8 +280,9 @@ impl<N: Scalar, const D: usize> Rotation<N, D>
|
|||
// We could use `CMatrixN::to_homogeneous()` here, but that would imply
|
||||
// adding the additional traits `DimAdd` and `IsNotStaticOne`. Maybe
|
||||
// these things will get nicer once specialization lands in Rust.
|
||||
let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
|
||||
res.fixed_slice_mut::<D, D>(0, 0).copy_from(&self.matrix);
|
||||
let mut res = MatrixN::<N, DimNameSum<Const<D>, U1>>::identity();
|
||||
res.fixed_slice_mut::<Const<D>, Const<D>>(0, 0)
|
||||
.copy_from(&self.matrix);
|
||||
|
||||
res
|
||||
}
|
||||
|
@ -405,7 +400,6 @@ impl<N: Scalar, const D: usize> Rotation<N, D>
|
|||
impl<N: SimdRealField, const D: usize> Rotation<N, D>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
{
|
||||
/// Rotate the given point.
|
||||
///
|
||||
|
@ -521,7 +515,6 @@ impl<N: Scalar + PartialEq, const D: usize> PartialEq for Rotation<N, D>
|
|||
impl<N, const D: usize> AbsDiffEq for Rotation<N, D>
|
||||
where
|
||||
N: Scalar + AbsDiffEq,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
type Epsilon = N::Epsilon;
|
||||
|
@ -540,7 +533,6 @@ where
|
|||
impl<N, const D: usize> RelativeEq for Rotation<N, D>
|
||||
where
|
||||
N: Scalar + RelativeEq,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -563,7 +555,6 @@ where
|
|||
impl<N, const D: usize> UlpsEq for Rotation<N, D>
|
||||
where
|
||||
N: Scalar + UlpsEq,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -585,7 +576,6 @@ where
|
|||
impl<N, const D: usize> fmt::Display for Rotation<N, D>
|
||||
where
|
||||
N: RealField + fmt::Display,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<usize, D, D>,
|
||||
{
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
let precision = f.precision().unwrap_or(3);
|
||||
|
|
|
@ -2,7 +2,7 @@ use num::{One, Zero};
|
|||
|
||||
use simba::scalar::{ClosedAdd, ClosedMul, SupersetOf};
|
||||
|
||||
use crate::base::{MatrixN, Scalar};
|
||||
use crate::base::{CMatrixN, Scalar};
|
||||
|
||||
use crate::geometry::Rotation;
|
||||
|
||||
|
@ -10,7 +10,6 @@ use crate::geometry::Rotation;
|
|||
impl<N, const D: usize> Rotation<N, D>
|
||||
where
|
||||
N: Scalar + Zero + One,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
/// Creates a new square identity rotation of the given `dimension`.
|
||||
///
|
||||
|
@ -25,7 +24,7 @@ where
|
|||
/// ```
|
||||
#[inline]
|
||||
pub fn identity() -> Rotation<N, D> {
|
||||
Self::from_matrix_unchecked(MatrixN::<N, D>::identity())
|
||||
Self::from_matrix_unchecked(CMatrixN::<N, D>::identity())
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -45,7 +44,6 @@ impl<N: Scalar, const D: usize> Rotation<N, D>
|
|||
pub fn cast<To: Scalar>(self) -> Rotation<To, D>
|
||||
where
|
||||
Rotation<To, D>: SupersetOf<Self>,
|
||||
// DefaultAllocator: Allocator<To, D, D>,
|
||||
{
|
||||
crate::convert(self)
|
||||
}
|
||||
|
@ -54,7 +52,6 @@ impl<N: Scalar, const D: usize> Rotation<N, D>
|
|||
impl<N, const D: usize> One for Rotation<N, D>
|
||||
where
|
||||
N: Scalar + Zero + One + ClosedAdd + ClosedMul,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn one() -> Self {
|
||||
|
|
|
@ -5,7 +5,7 @@ use simba::simd::{PrimitiveSimdValue, SimdValue};
|
|||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimMin, DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::{Const, DefaultAllocator, Matrix2, Matrix3, Matrix4, MatrixN, Scalar};
|
||||
use crate::base::{CMatrixN, Const, DefaultAllocator, Matrix2, Matrix3, Matrix4, MatrixN, Scalar};
|
||||
|
||||
use crate::geometry::{
|
||||
AbstractRotation, Isometry, Rotation, Rotation2, Rotation3, Similarity, SuperTCategoryOf,
|
||||
|
@ -31,7 +31,6 @@ impl<N1, N2, const D: usize> SubsetOf<Rotation<N2, D>> for Rotation<N1, D>
|
|||
where
|
||||
N1: RealField,
|
||||
N2: RealField + SupersetOf<N1>,
|
||||
// DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Rotation<N2, D> {
|
||||
|
@ -40,7 +39,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(rot: &Rotation<N2, D>) -> bool {
|
||||
crate::is_convertible::<_, MatrixN<N1, D>>(rot.matrix())
|
||||
crate::is_convertible::<_, CMatrixN<N1, D>>(rot.matrix())
|
||||
}
|
||||
|
||||
#[inline]
|
||||
|
@ -125,7 +124,6 @@ where
|
|||
N1: RealField,
|
||||
N2: RealField + SupersetOf<N1>,
|
||||
R: AbstractRotation<N2, D> + SupersetOf<Self>,
|
||||
// DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Isometry<N2, R, D> {
|
||||
|
@ -148,7 +146,6 @@ where
|
|||
N1: RealField,
|
||||
N2: RealField + SupersetOf<N1>,
|
||||
R: AbstractRotation<N2, D> + SupersetOf<Self>,
|
||||
// DefaultAllocator: Allocator<N1, D, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Similarity<N2, R, D> {
|
||||
|
@ -213,8 +210,8 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> bool {
|
||||
let rot = m.fixed_slice::<D, D>(0, 0);
|
||||
let bottom = m.fixed_slice::<U1, D>(D, 0);
|
||||
let rot = m.fixed_slice::<Const<D>, Const<D>>(0, 0);
|
||||
let bottom = m.fixed_slice::<U1, Const<D>>(D, 0);
|
||||
|
||||
// Scalar types agree.
|
||||
m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
|
||||
|
@ -226,7 +223,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> Self {
|
||||
let r = m.fixed_slice::<D, D>(0, 0);
|
||||
let r = m.fixed_slice::<Const<D>, Const<D>>(0, 0);
|
||||
Self::from_matrix_unchecked(crate::convert_unchecked(r.into_owned()))
|
||||
}
|
||||
}
|
||||
|
@ -264,7 +261,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Rotation<N::Element,
|
|||
where
|
||||
N: From<[<N as SimdValue>::Element; 2]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N::Element, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Rotation<N::Element, D>; 2]) -> Self {
|
||||
|
@ -280,7 +276,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Rotation<N::Element,
|
|||
where
|
||||
N: From<[<N as SimdValue>::Element; 4]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N::Element, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Rotation<N::Element, D>; 4]) -> Self {
|
||||
|
@ -298,7 +293,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Rotation<N::Element,
|
|||
where
|
||||
N: From<[<N as SimdValue>::Element; 8]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N::Element, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Rotation<N::Element, D>; 8]) -> Self {
|
||||
|
@ -320,7 +314,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Rotation<N::Element,
|
|||
where
|
||||
N: From<[<N as SimdValue>::Element; 16]>,
|
||||
N::Element: Scalar + Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N::Element, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Rotation<N::Element, D>; 16]) -> Self {
|
||||
|
|
|
@ -24,16 +24,15 @@ use simba::scalar::{ClosedAdd, ClosedMul};
|
|||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::constraint::{AreMultipliable, ShapeConstraint};
|
||||
use crate::base::dimension::{Dim, DimName, U1};
|
||||
use crate::base::dimension::{Dim, U1};
|
||||
use crate::base::storage::Storage;
|
||||
use crate::base::{DefaultAllocator, Matrix, MatrixMN, Scalar, Unit, Vector, VectorN};
|
||||
use crate::base::{
|
||||
CMatrixMN, CVectorN, Const, DefaultAllocator, Matrix, MatrixMN, Scalar, Unit, Vector,
|
||||
};
|
||||
|
||||
use crate::geometry::{Point, Rotation};
|
||||
|
||||
impl<N: Scalar, D: DimName> Index<(usize, usize)> for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
impl<N: Scalar, const D: usize> Index<(usize, usize)> for Rotation<N, D> {
|
||||
type Output = N;
|
||||
|
||||
#[inline]
|
||||
|
@ -45,7 +44,10 @@ where
|
|||
// Rotation × Rotation
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, D) for D: DimName;
|
||||
(Const<D>, Const<D>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for;
|
||||
where;
|
||||
self: Rotation<N, D>, right: Rotation<N, D>, Output = Rotation<N, D>;
|
||||
[val val] => Rotation::from_matrix_unchecked(self.into_inner() * right.into_inner());
|
||||
[ref val] => Rotation::from_matrix_unchecked(self.matrix() * right.into_inner());
|
||||
|
@ -57,7 +59,10 @@ md_impl_all!(
|
|||
// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
|
||||
md_impl_all!(
|
||||
Div, div;
|
||||
(D, D), (D, D) for D: DimName;
|
||||
(Const<D>, Const<D>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for;
|
||||
where;
|
||||
self: Rotation<N, D>, right: Rotation<N, D>, Output = Rotation<N, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
|
@ -68,10 +73,13 @@ md_impl_all!(
|
|||
// Rotation × Matrix
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(D1, D1), (R2, C2) for D1: DimName, R2: Dim, C2: Dim, SB: Storage<N, R2, C2>
|
||||
where DefaultAllocator: Allocator<N, D1, C2>
|
||||
where ShapeConstraint: AreMultipliable<D1, D1, R2, C2>;
|
||||
self: Rotation<N, D1>, right: Matrix<N, R2, C2, SB>, Output = MatrixMN<N, D1, C2>;
|
||||
(Const<D1>, Const<D1>), (R2, C2)
|
||||
const D1;
|
||||
for R2, C2, SB;
|
||||
where R2: Dim, C2: Dim, SB: Storage<N, R2, C2>,
|
||||
DefaultAllocator: Allocator<N, Const<D1>, C2>,
|
||||
ShapeConstraint: AreMultipliable<Const<D1>, Const<D1>, R2, C2>;
|
||||
self: Rotation<N, D1>, right: Matrix<N, R2, C2, SB>, Output = MatrixMN<N, Const<D1>, C2>;
|
||||
[val val] => self.into_inner() * right;
|
||||
[ref val] => self.matrix() * right;
|
||||
[val ref] => self.into_inner() * right;
|
||||
|
@ -81,10 +89,13 @@ md_impl_all!(
|
|||
// Matrix × Rotation
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(R1, C1), (D2, D2) for R1: Dim, C1: Dim, D2: DimName, SA: Storage<N, R1, C1>
|
||||
where DefaultAllocator: Allocator<N, R1, D2>
|
||||
where ShapeConstraint: AreMultipliable<R1, C1, D2, D2>;
|
||||
self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, D2>;
|
||||
(R1, C1), (Const<D2>, Const<D2>)
|
||||
const D2;
|
||||
for R1, C1, SA;
|
||||
where R1: Dim, C1: Dim, SA: Storage<N, R1, C1>,
|
||||
DefaultAllocator: Allocator<N, R1, Const<D2>>,
|
||||
ShapeConstraint: AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
|
||||
self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, Const<D2>>;
|
||||
[val val] => self * right.into_inner();
|
||||
[ref val] => self * right.into_inner();
|
||||
[val ref] => self * right.matrix();
|
||||
|
@ -94,10 +105,13 @@ md_impl_all!(
|
|||
// Matrix ÷ Rotation
|
||||
md_impl_all!(
|
||||
Div, div;
|
||||
(R1, C1), (D2, D2) for R1: Dim, C1: Dim, D2: DimName, SA: Storage<N, R1, C1>
|
||||
where DefaultAllocator: Allocator<N, R1, D2>
|
||||
where ShapeConstraint: AreMultipliable<R1, C1, D2, D2>;
|
||||
self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, D2>;
|
||||
(R1, C1), (Const<D2>, Const<D2>)
|
||||
const D2;
|
||||
for R1, C1, SA;
|
||||
where R1: Dim, C1: Dim, SA: Storage<N, R1, C1>,
|
||||
DefaultAllocator: Allocator<N, R1, Const<D2>>,
|
||||
ShapeConstraint: AreMultipliable<R1, C1, Const<D2>, Const<D2>>;
|
||||
self: Matrix<N, R1, C1, SA>, right: Rotation<N, D2>, Output = MatrixMN<N, R1, Const<D2>>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
|
@ -109,9 +123,10 @@ md_impl_all!(
|
|||
// behavior?
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName
|
||||
where DefaultAllocator: Allocator<N, D>
|
||||
where ShapeConstraint: AreMultipliable<D, D, D, U1>;
|
||||
(Const<D>, Const<D>), (Const<D>, U1)
|
||||
const D;
|
||||
for;
|
||||
where ShapeConstraint: AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
|
||||
self: Rotation<N, D>, right: Point<N, D>, Output = Point<N, D>;
|
||||
[val val] => self.into_inner() * right;
|
||||
[ref val] => self.matrix() * right;
|
||||
|
@ -122,10 +137,12 @@ md_impl_all!(
|
|||
// Rotation × Unit<Vector>
|
||||
md_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName, S: Storage<N, D>
|
||||
where DefaultAllocator: Allocator<N, D>
|
||||
where ShapeConstraint: AreMultipliable<D, D, D, U1>;
|
||||
self: Rotation<N, D>, right: Unit<Vector<N, D, S>>, Output = Unit<VectorN<N, D>>;
|
||||
(Const<D>, Const<D>), (Const<D>, U1)
|
||||
const D;
|
||||
for S;
|
||||
where S: Storage<N, Const<D>>,
|
||||
ShapeConstraint: AreMultipliable<Const<D>, Const<D>, Const<D>, U1>;
|
||||
self: Rotation<N, D>, right: Unit<Vector<N, Const<D>, S>>, Output = Unit<CVectorN<N, D>>;
|
||||
[val val] => Unit::new_unchecked(self.into_inner() * right.into_inner());
|
||||
[ref val] => Unit::new_unchecked(self.matrix() * right.into_inner());
|
||||
[val ref] => Unit::new_unchecked(self.into_inner() * right.as_ref());
|
||||
|
@ -137,7 +154,8 @@ md_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign;
|
||||
(D, D), (D, D) for D: DimName;
|
||||
(Const<D>, Const<D>), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Rotation<N, D>, right: Rotation<N, D>;
|
||||
[val] => self.matrix_mut_unchecked().mul_assign(right.into_inner());
|
||||
[ref] => self.matrix_mut_unchecked().mul_assign(right.matrix());
|
||||
|
@ -145,7 +163,8 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign;
|
||||
(D, D), (D, D) for D: DimName;
|
||||
(Const<D>, Const<D>), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Rotation<N, D>, right: Rotation<N, D>;
|
||||
[val] => self.matrix_mut_unchecked().mul_assign(right.inverse().into_inner());
|
||||
[ref] => self.matrix_mut_unchecked().mul_assign(right.inverse().matrix());
|
||||
|
@ -159,16 +178,18 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign;
|
||||
(R1, C1), (C1, C1) for R1: DimName, C1: DimName;
|
||||
self: MatrixMN<N, R1, C1>, right: Rotation<N, C1>;
|
||||
(Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
|
||||
const R1, C1; for; where;
|
||||
self: CMatrixMN<N, R1, C1>, right: Rotation<N, C1>;
|
||||
[val] => self.mul_assign(right.into_inner());
|
||||
[ref] => self.mul_assign(right.matrix());
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign;
|
||||
(R1, C1), (C1, C1) for R1: DimName, C1: DimName;
|
||||
self: MatrixMN<N, R1, C1>, right: Rotation<N, C1>;
|
||||
(Const<R1>, Const<C1>), (Const<C1>, Const<C1>)
|
||||
const R1, C1; for; where;
|
||||
self: CMatrixMN<N, R1, C1>, right: Rotation<N, C1>;
|
||||
[val] => self.mul_assign(right.inverse().into_inner());
|
||||
[ref] => self.mul_assign(right.inverse().matrix());
|
||||
);
|
||||
|
|
|
@ -8,7 +8,6 @@ impl<N, const D: usize> SimdValue for Rotation<N, D>
|
|||
where
|
||||
N: Scalar + SimdValue,
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D, D> + Allocator<N::Element, D, D>,
|
||||
{
|
||||
type Element = Rotation<N::Element, D>;
|
||||
type SimdBool = N::SimdBool;
|
||||
|
|
|
@ -29,15 +29,15 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
|
|||
feature = "serde-serialize",
|
||||
serde(bound(serialize = "N: Serialize,
|
||||
R: Serialize,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Serialize"))
|
||||
DefaultAllocator: Allocator<N, Const<D>>,
|
||||
Owned<N, Const<D>>: Serialize"))
|
||||
)]
|
||||
#[cfg_attr(
|
||||
feature = "serde-serialize",
|
||||
serde(bound(deserialize = "N: Deserialize<'de>,
|
||||
R: Deserialize<'de>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Deserialize<'de>"))
|
||||
DefaultAllocator: Allocator<N, Const<D>>,
|
||||
Owned<N, Const<D>>: Deserialize<'de>"))
|
||||
)]
|
||||
pub struct Similarity<N: Scalar, R, const D: usize>
|
||||
// where
|
||||
|
@ -52,7 +52,6 @@ pub struct Similarity<N: Scalar, R, const D: usize>
|
|||
impl<N: Scalar, R, const D: usize> Abomonation for Similarity<N, R, D>
|
||||
where
|
||||
Isometry<N, R, D>: Abomonation,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
|
||||
self.isometry.entomb(writer)
|
||||
|
@ -69,7 +68,6 @@ where
|
|||
|
||||
impl<N: Scalar + hash::Hash, R: hash::Hash, const D: usize> hash::Hash for Similarity<N, R, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, Const<D>>: hash::Hash,
|
||||
{
|
||||
fn hash<H: hash::Hasher>(&self, state: &mut H) {
|
||||
|
@ -81,7 +79,6 @@ where
|
|||
impl<N: Scalar + Copy + Zero, R: AbstractRotation<N, D> + Copy, const D: usize> Copy
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, Const<D>>: Copy,
|
||||
{
|
||||
}
|
||||
|
@ -100,7 +97,6 @@ impl<N: Scalar + Zero, R: AbstractRotation<N, D> + Clone, const D: usize> Clone
|
|||
impl<N: Scalar + Zero, R, const D: usize> Similarity<N, R, D>
|
||||
where
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
/// Creates a new similarity from its rotational and translational parts.
|
||||
#[inline]
|
||||
|
@ -143,7 +139,6 @@ impl<N: SimdRealField, R, const D: usize> Similarity<N, R, D>
|
|||
where
|
||||
N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
/// Creates a new similarity that applies only a scaling factor.
|
||||
#[inline]
|
||||
|
@ -345,7 +340,7 @@ impl<N: SimdRealField, R, const D: usize> Similarity<N, R, D>
|
|||
{
|
||||
let mut res = self.isometry.to_homogeneous();
|
||||
|
||||
for e in res.fixed_slice_mut::<D, D>(0, 0).iter_mut() {
|
||||
for e in res.fixed_slice_mut::<Const<D>, Const<D>>(0, 0).iter_mut() {
|
||||
*e *= self.scaling
|
||||
}
|
||||
|
||||
|
@ -354,14 +349,13 @@ impl<N: SimdRealField, R, const D: usize> Similarity<N, R, D>
|
|||
}
|
||||
|
||||
impl<N: SimdRealField, R, const D: usize> Eq for Similarity<N, R, D> where
|
||||
R: AbstractRotation<N, D> + Eq // DefaultAllocator: Allocator<N, D>,
|
||||
R: AbstractRotation<N, D> + Eq
|
||||
{
|
||||
}
|
||||
|
||||
impl<N: SimdRealField, R, const D: usize> PartialEq for Similarity<N, R, D>
|
||||
where
|
||||
R: AbstractRotation<N, D> + PartialEq,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn eq(&self, right: &Self) -> bool {
|
||||
|
@ -372,7 +366,6 @@ where
|
|||
impl<N: RealField, R, const D: usize> AbsDiffEq for Similarity<N, R, D>
|
||||
where
|
||||
R: AbstractRotation<N, D> + AbsDiffEq<Epsilon = N::Epsilon>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
type Epsilon = N::Epsilon;
|
||||
|
@ -392,7 +385,6 @@ where
|
|||
impl<N: RealField, R, const D: usize> RelativeEq for Similarity<N, R, D>
|
||||
where
|
||||
R: AbstractRotation<N, D> + RelativeEq<Epsilon = N::Epsilon>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -441,7 +433,6 @@ impl<N, R, const D: usize> fmt::Display for Similarity<N, R, D>
|
|||
where
|
||||
N: RealField + fmt::Display,
|
||||
R: AbstractRotation<N, D> + fmt::Display,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<usize, D>,
|
||||
{
|
||||
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
|
||||
let precision = f.precision().unwrap_or(3);
|
||||
|
|
|
@ -16,7 +16,7 @@ use simba::simd::SimdRealField;
|
|||
use crate::base::{Vector2, Vector3};
|
||||
|
||||
use crate::{
|
||||
AbstractRotation, Isometry, Point, Point3, Rotation2, Rotation3, Scalar, Similarity,
|
||||
AbstractRotation, Const, Isometry, Point, Point3, Rotation2, Rotation3, Scalar, Similarity,
|
||||
Translation, UnitComplex, UnitQuaternion,
|
||||
};
|
||||
|
||||
|
@ -24,7 +24,6 @@ impl<N: SimdRealField, R, const D: usize> Similarity<N, R, D>
|
|||
where
|
||||
N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
/// Creates a new identity similarity.
|
||||
///
|
||||
|
@ -51,7 +50,6 @@ impl<N: SimdRealField, R, const D: usize> One for Similarity<N, R, D>
|
|||
where
|
||||
N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
/// Creates a new identity similarity.
|
||||
#[inline]
|
||||
|
@ -64,7 +62,6 @@ where
|
|||
impl<N: crate::RealField, R, const D: usize> Distribution<Similarity<N, R, D>> for Standard
|
||||
where
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Standard: Distribution<N> + Distribution<R>,
|
||||
{
|
||||
/// Generate an arbitrary random variate for testing purposes.
|
||||
|
@ -83,7 +80,6 @@ impl<N: SimdRealField, R, const D: usize> Similarity<N, R, D>
|
|||
where
|
||||
N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
/// The similarity that applies the scaling factor `scaling`, followed by the rotation `r` with
|
||||
/// its axis passing through the point `p`.
|
||||
|
@ -113,8 +109,7 @@ where
|
|||
N: crate::RealField + Arbitrary + Send,
|
||||
N::Element: crate::RealField,
|
||||
R: AbstractRotation<N, D> + Arbitrary + Send,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Send,
|
||||
Owned<N, Const<D>>: Send,
|
||||
{
|
||||
#[inline]
|
||||
fn arbitrary(rng: &mut Gen) -> Self {
|
||||
|
@ -394,7 +389,7 @@ macro_rules! similarity_construction_impl(
|
|||
up: &Vector3<N>,
|
||||
scaling: N)
|
||||
-> Self {
|
||||
Self::from_isometry(Isometry::<_, $Rot<N>, _>::look_at_lh(eye, target, up), scaling)
|
||||
Self::from_isometry(Isometry::<_, $Rot<N>, 3>::look_at_lh(eye, target, up), scaling)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
@ -26,7 +26,6 @@ where
|
|||
N2: RealField + SupersetOf<N1>,
|
||||
R1: AbstractRotation<N1, D> + SubsetOf<R2>,
|
||||
R2: AbstractRotation<N2, D>,
|
||||
// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Similarity<N2, R2, D> {
|
||||
|
@ -106,7 +105,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> bool {
|
||||
let mut rot = m.fixed_slice::<D, D>(0, 0).clone_owned();
|
||||
let mut rot = m.fixed_slice::<Const<D>, Const<D>>(0, 0).clone_owned();
|
||||
if rot
|
||||
.fixed_columns_mut::<U1>(0)
|
||||
.try_normalize_mut(N2::zero())
|
||||
|
@ -128,7 +127,7 @@ where
|
|||
rot.fixed_columns_mut::<U1>(2).neg_mut();
|
||||
}
|
||||
|
||||
let bottom = m.fixed_slice::<U1, D>(D, 0);
|
||||
let bottom = m.fixed_slice::<U1, Const<D>>(D, 0);
|
||||
// Scalar types agree.
|
||||
m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
|
||||
// The normalized block part is a rotation.
|
||||
|
@ -143,22 +142,22 @@ where
|
|||
#[inline]
|
||||
fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> Self {
|
||||
let mut mm = m.clone_owned();
|
||||
let na = mm.fixed_slice_mut::<D, U1>(0, 0).normalize_mut();
|
||||
let nb = mm.fixed_slice_mut::<D, U1>(0, 1).normalize_mut();
|
||||
let nc = mm.fixed_slice_mut::<D, U1>(0, 2).normalize_mut();
|
||||
let na = mm.fixed_slice_mut::<Const<D>, U1>(0, 0).normalize_mut();
|
||||
let nb = mm.fixed_slice_mut::<Const<D>, U1>(0, 1).normalize_mut();
|
||||
let nc = mm.fixed_slice_mut::<Const<D>, U1>(0, 2).normalize_mut();
|
||||
|
||||
let mut scale = (na + nb + nc) / crate::convert(3.0); // We take the mean, for robustness.
|
||||
|
||||
// TODO: could we avoid the explicit computation of the determinant?
|
||||
// (its sign is needed to see if the scaling factor is negative).
|
||||
if mm.fixed_slice::<D, D>(0, 0).determinant() < N2::zero() {
|
||||
mm.fixed_slice_mut::<D, U1>(0, 0).neg_mut();
|
||||
mm.fixed_slice_mut::<D, U1>(0, 1).neg_mut();
|
||||
mm.fixed_slice_mut::<D, U1>(0, 2).neg_mut();
|
||||
if mm.fixed_slice::<Const<D>, Const<D>>(0, 0).determinant() < N2::zero() {
|
||||
mm.fixed_slice_mut::<Const<D>, U1>(0, 0).neg_mut();
|
||||
mm.fixed_slice_mut::<Const<D>, U1>(0, 1).neg_mut();
|
||||
mm.fixed_slice_mut::<Const<D>, U1>(0, 2).neg_mut();
|
||||
scale = -scale;
|
||||
}
|
||||
|
||||
let t = m.fixed_slice::<D, U1>(0, D).into_owned();
|
||||
let t = m.fixed_slice::<Const<D>, U1>(0, D).into_owned();
|
||||
let t = Translation {
|
||||
vector: crate::convert_unchecked(t),
|
||||
};
|
||||
|
@ -192,7 +191,6 @@ where
|
|||
R::Element: AbstractRotation<N::Element, D>,
|
||||
N::Element: Scalar + Zero + Copy,
|
||||
R::Element: Scalar + Zero + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Similarity<N::Element, R::Element, D>; 2]) -> Self {
|
||||
|
@ -211,7 +209,6 @@ where
|
|||
R::Element: AbstractRotation<N::Element, D>,
|
||||
N::Element: Scalar + Zero + Copy,
|
||||
R::Element: Scalar + Zero + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Similarity<N::Element, R::Element, D>; 4]) -> Self {
|
||||
|
@ -240,7 +237,6 @@ where
|
|||
R::Element: AbstractRotation<N::Element, D>,
|
||||
N::Element: Scalar + Zero + Copy,
|
||||
R::Element: Scalar + Zero + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Similarity<N::Element, R::Element, D>; 8]) -> Self {
|
||||
|
@ -277,7 +273,6 @@ where
|
|||
R::Element: AbstractRotation<N::Element, D>,
|
||||
N::Element: Scalar + Zero + Copy,
|
||||
R::Element: Scalar + Zero + Copy,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Similarity<N::Element, R::Element, D>; 16]) -> Self {
|
||||
|
|
|
@ -5,8 +5,8 @@ use simba::scalar::{ClosedAdd, ClosedMul};
|
|||
use simba::simd::SimdRealField;
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimName, U1, U2, U3, U4};
|
||||
use crate::base::{DefaultAllocator, Scalar, VectorN};
|
||||
use crate::base::dimension::{U1, U2, U3};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator, Scalar};
|
||||
|
||||
use crate::geometry::{
|
||||
AbstractRotation, Isometry, Point, Rotation, Similarity, Translation, UnitComplex,
|
||||
|
@ -70,10 +70,9 @@ macro_rules! similarity_binop_impl(
|
|||
($Op: ident, $op: ident;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField, D: DimName, R> $Op<$Rhs> for $Lhs
|
||||
impl<$($lives ,)* N: SimdRealField, R, const D: usize> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> {
|
||||
R: AbstractRotation<N, D> {
|
||||
type Output = $Output;
|
||||
|
||||
#[inline]
|
||||
|
@ -118,20 +117,18 @@ macro_rules! similarity_binop_assign_impl_all(
|
|||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
|
||||
[val] => $action_val: expr;
|
||||
[ref] => $action_ref: expr;) => {
|
||||
impl<N: SimdRealField, D: DimName, R> $OpAssign<$Rhs> for $Lhs
|
||||
impl<N: SimdRealField, R, const D: usize> $OpAssign<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> {
|
||||
R: AbstractRotation<N, D>{
|
||||
#[inline]
|
||||
fn $op_assign(&mut $lhs, $rhs: $Rhs) {
|
||||
$action_val
|
||||
}
|
||||
}
|
||||
|
||||
impl<'b, N: SimdRealField, D: DimName, R> $OpAssign<&'b $Rhs> for $Lhs
|
||||
impl<'b, N: SimdRealField, R, const D: usize> $OpAssign<&'b $Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
R: AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> {
|
||||
R: AbstractRotation<N, D> {
|
||||
#[inline]
|
||||
fn $op_assign(&mut $lhs, $rhs: &'b $Rhs) {
|
||||
$action_ref
|
||||
|
@ -220,16 +217,18 @@ similarity_binop_assign_impl_all!(
|
|||
// Similarity ÷= R
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(D, U1), (D, D) for D: DimName;
|
||||
self: Similarity<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
|
||||
(Const<D>, U1), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Similarity<N, Rotation<N, D>, D>, rhs: Rotation<N, D>;
|
||||
[val] => self.isometry.rotation *= rhs;
|
||||
[ref] => self.isometry.rotation *= rhs.clone();
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(D, U1), (D, D) for D: DimName;
|
||||
self: Similarity<N, D, Rotation<N, D>>, rhs: Rotation<N, D>;
|
||||
(Const<D>, U1), (Const<D>, Const<D>)
|
||||
const D; for; where;
|
||||
self: Similarity<N, Rotation<N, D>, D>, rhs: Rotation<N, D>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -237,7 +236,8 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U3, U3), (U3, U3) for;
|
||||
(U3, U3), (U3, U3)
|
||||
const; for; where;
|
||||
self: Similarity<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>;
|
||||
[val] => self.isometry.rotation *= rhs;
|
||||
[ref] => self.isometry.rotation *= *rhs;
|
||||
|
@ -245,7 +245,8 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U3, U3), (U3, U3) for;
|
||||
(U3, U3), (U3, U3)
|
||||
const; for; where;
|
||||
self: Similarity<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -254,16 +255,18 @@ md_assign_impl_all!(
|
|||
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U2, U2), (U2, U2) for;
|
||||
self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
|
||||
(U2, U2), (U2, U2)
|
||||
const; for; where;
|
||||
self: Similarity<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>;
|
||||
[val] => self.isometry.rotation *= rhs;
|
||||
[ref] => self.isometry.rotation *= *rhs;
|
||||
);
|
||||
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: SimdRealField for N::Element: SimdRealField;
|
||||
(U2, U2), (U2, U2) for;
|
||||
self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>;
|
||||
(U2, U2), (U2, U2)
|
||||
const; for; where;
|
||||
self: Similarity<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>;
|
||||
// TODO: don't invert explicitly?
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -347,7 +350,7 @@ similarity_binop_impl_all!(
|
|||
// Similarity × Vector
|
||||
similarity_binop_impl_all!(
|
||||
Mul, mul;
|
||||
self: Similarity<N, R, D>, right: VectorN<N, D>, Output = VectorN<N, D>;
|
||||
self: Similarity<N, R, D>, right: CVectorN<N, D>, Output = CVectorN<N, D>;
|
||||
[val val] => self.isometry.rotation.transform_vector(&right) * self.scaling();
|
||||
[ref val] => self.isometry.rotation.transform_vector(&right) * self.scaling();
|
||||
[val ref] => self.isometry.rotation.transform_vector(right) * self.scaling();
|
||||
|
@ -389,13 +392,11 @@ similarity_binop_impl_all!(
|
|||
|
||||
macro_rules! similarity_from_composition_impl(
|
||||
($Op: ident, $op: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||||
$($Dims: ident),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField $(, $Dims: $DimsBound)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, $R1, $C1> +
|
||||
Allocator<N, $R2, $C2> {
|
||||
impl<$($lives ,)* N: SimdRealField $(, const $Dims: usize)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField {
|
||||
type Output = $Output;
|
||||
|
||||
#[inline]
|
||||
|
@ -408,7 +409,7 @@ macro_rules! similarity_from_composition_impl(
|
|||
|
||||
macro_rules! similarity_from_composition_impl_all(
|
||||
($Op: ident, $op: ident;
|
||||
($R1: ty, $C1: ty),($R2: ty, $C2: ty) $(for $Dims: ident: $DimsBound: ident),*;
|
||||
$($Dims: ident),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
|
||||
[val val] => $action_val_val: expr;
|
||||
[ref val] => $action_ref_val: expr;
|
||||
|
@ -417,25 +418,25 @@ macro_rules! similarity_from_composition_impl_all(
|
|||
|
||||
similarity_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
|
||||
$action_val_val; );
|
||||
|
||||
similarity_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
|
||||
$action_ref_val; 'a);
|
||||
|
||||
similarity_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||||
$action_val_ref; 'b);
|
||||
|
||||
similarity_from_composition_impl!(
|
||||
$Op, $op;
|
||||
($R1, $C1),($R2, $C2) $(for $Dims: $DimsBound),*;
|
||||
$($Dims),*;
|
||||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
|
||||
$action_ref_ref; 'a, 'b);
|
||||
}
|
||||
|
@ -444,9 +445,9 @@ macro_rules! similarity_from_composition_impl_all(
|
|||
// Similarity × Rotation
|
||||
similarity_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Similarity<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
|
||||
Output = Similarity<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Similarity<N, Rotation<N, D>, D>, rhs: Rotation<N, D>,
|
||||
Output = Similarity<N, Rotation<N, D>, D>;
|
||||
[val val] => {
|
||||
let scaling = self.scaling();
|
||||
Similarity::from_isometry(self.isometry * rhs, scaling)
|
||||
|
@ -462,9 +463,9 @@ similarity_from_composition_impl_all!(
|
|||
// Rotation × Similarity
|
||||
similarity_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Rotation<N, D>, right: Similarity<N, D, Rotation<N, D>>,
|
||||
Output = Similarity<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Rotation<N, D>, right: Similarity<N, Rotation<N, D>, D>,
|
||||
Output = Similarity<N, Rotation<N, D>, D>;
|
||||
[val val] => &self * &right;
|
||||
[ref val] => self * &right;
|
||||
[val ref] => &self * right;
|
||||
|
@ -474,9 +475,9 @@ similarity_from_composition_impl_all!(
|
|||
// Similarity ÷ Rotation
|
||||
similarity_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Similarity<N, D, Rotation<N, D>>, rhs: Rotation<N, D>,
|
||||
Output = Similarity<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Similarity<N, Rotation<N, D>, D>, rhs: Rotation<N, D>,
|
||||
Output = Similarity<N, Rotation<N, D>, D>;
|
||||
[val val] => {
|
||||
let scaling = self.scaling();
|
||||
Similarity::from_isometry(self.isometry / rhs, scaling)
|
||||
|
@ -492,9 +493,9 @@ similarity_from_composition_impl_all!(
|
|||
// Rotation ÷ Similarity
|
||||
similarity_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(D, D), (D, U1) for D: DimName;
|
||||
self: Rotation<N, D>, right: Similarity<N, D, Rotation<N, D>>,
|
||||
Output = Similarity<N, D, Rotation<N, D>>;
|
||||
D;
|
||||
self: Rotation<N, D>, right: Similarity<N, Rotation<N, D>, D>,
|
||||
Output = Similarity<N, Rotation<N, D>, D>;
|
||||
// TODO: don't call inverse explicitly?
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
|
||||
|
@ -505,7 +506,7 @@ similarity_from_composition_impl_all!(
|
|||
// Similarity × UnitQuaternion
|
||||
similarity_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: Similarity<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = Similarity<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => {
|
||||
|
@ -523,7 +524,7 @@ similarity_from_composition_impl_all!(
|
|||
// UnitQuaternion × Similarity
|
||||
similarity_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, right: Similarity<N, UnitQuaternion<N>, 3>,
|
||||
Output = Similarity<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => &self * &right;
|
||||
|
@ -535,7 +536,7 @@ similarity_from_composition_impl_all!(
|
|||
// Similarity ÷ UnitQuaternion
|
||||
similarity_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: Similarity<N, UnitQuaternion<N>, 3>, rhs: UnitQuaternion<N>,
|
||||
Output = Similarity<N, UnitQuaternion<N>, 3>;
|
||||
[val val] => {
|
||||
|
@ -553,7 +554,7 @@ similarity_from_composition_impl_all!(
|
|||
// UnitQuaternion ÷ Similarity
|
||||
similarity_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U4, U1), (U3, U1);
|
||||
;
|
||||
self: UnitQuaternion<N>, right: Similarity<N, UnitQuaternion<N>, 3>,
|
||||
Output = Similarity<N, UnitQuaternion<N>, 3>;
|
||||
// TODO: don't call inverse explicitly?
|
||||
|
@ -566,9 +567,9 @@ similarity_from_composition_impl_all!(
|
|||
// Similarity × UnitComplex
|
||||
similarity_from_composition_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1), (U2, U1);
|
||||
self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||||
Output = Similarity<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: Similarity<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>,
|
||||
Output = Similarity<N, UnitComplex<N>, 2>;
|
||||
[val val] => {
|
||||
let scaling = self.scaling();
|
||||
Similarity::from_isometry(self.isometry * rhs, scaling)
|
||||
|
@ -584,9 +585,9 @@ similarity_from_composition_impl_all!(
|
|||
// Similarity ÷ UnitComplex
|
||||
similarity_from_composition_impl_all!(
|
||||
Div, div;
|
||||
(U2, U1), (U2, U1);
|
||||
self: Similarity<N, U2, UnitComplex<N>>, rhs: UnitComplex<N>,
|
||||
Output = Similarity<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: Similarity<N, UnitComplex<N>, 2>, rhs: UnitComplex<N>,
|
||||
Output = Similarity<N, UnitComplex<N>, 2>;
|
||||
[val val] => {
|
||||
let scaling = self.scaling();
|
||||
Similarity::from_isometry(self.isometry / rhs, scaling)
|
||||
|
|
|
@ -7,7 +7,6 @@ where
|
|||
N::Element: SimdRealField,
|
||||
R: SimdValue<SimdBool = N::SimdBool> + AbstractRotation<N, D>,
|
||||
R::Element: AbstractRotation<N::Element, D>,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
type Element = Similarity<N::Element, R::Element, D>;
|
||||
type SimdBool = N::SimdBool;
|
||||
|
|
|
@ -21,7 +21,6 @@ macro_rules! impl_swizzle {
|
|||
impl<N: Scalar, const D: usize> Point<N, D>
|
||||
where
|
||||
Const<D>: ToTypenum,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
impl_swizzle!(
|
||||
where U0: xx() -> Point2[0, 0],
|
||||
|
|
|
@ -11,7 +11,7 @@ use simba::scalar::RealField;
|
|||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::storage::Owned;
|
||||
use crate::base::{CMatrixN, CVectorN, Const, DefaultAllocator, MatrixN};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator, DimName, MatrixN};
|
||||
|
||||
use crate::geometry::Point;
|
||||
|
||||
|
@ -28,10 +28,10 @@ pub trait TCategory: Any + Debug + Copy + PartialEq + Send {
|
|||
|
||||
/// Checks that the given matrix is a valid homogeneous representation of an element of the
|
||||
/// category `Self`.
|
||||
fn check_homogeneous_invariants<N: RealField, const D: usize>(mat: &CMatrixN<N, D>) -> bool
|
||||
fn check_homogeneous_invariants<N: RealField, D: DimName>(mat: &MatrixN<N, D>) -> bool
|
||||
where
|
||||
N::Epsilon: Copy;
|
||||
// DefaultAllocator: Allocator<N, D, D>;
|
||||
N::Epsilon: Copy,
|
||||
DefaultAllocator: Allocator<N, D, D>;
|
||||
}
|
||||
|
||||
/// Traits that gives the `Transform` category that is compatible with the result of the
|
||||
|
@ -71,10 +71,10 @@ pub enum TAffine {}
|
|||
|
||||
impl TCategory for TGeneral {
|
||||
#[inline]
|
||||
fn check_homogeneous_invariants<N: RealField, const D: usize>(_: &CMatrixN<N, D>) -> bool
|
||||
fn check_homogeneous_invariants<N: RealField, D: DimName>(_: &MatrixN<N, D>) -> bool
|
||||
where
|
||||
N::Epsilon: Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
true
|
||||
}
|
||||
|
@ -82,10 +82,10 @@ impl TCategory for TGeneral {
|
|||
|
||||
impl TCategory for TProjective {
|
||||
#[inline]
|
||||
fn check_homogeneous_invariants<N: RealField, const D: usize>(mat: &CMatrixN<N, D>) -> bool
|
||||
fn check_homogeneous_invariants<N: RealField, D: DimName>(mat: &MatrixN<N, D>) -> bool
|
||||
where
|
||||
N::Epsilon: Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
mat.is_invertible()
|
||||
}
|
||||
|
@ -98,12 +98,12 @@ impl TCategory for TAffine {
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn check_homogeneous_invariants<N: RealField, const D: usize>(mat: &CMatrixN<N, D>) -> bool
|
||||
fn check_homogeneous_invariants<N: RealField, D: DimName>(mat: &MatrixN<N, D>) -> bool
|
||||
where
|
||||
N::Epsilon: Copy,
|
||||
// DefaultAllocator: Allocator<N, D, D>,
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
let last = D - 1;
|
||||
let last = D::dim() - 1;
|
||||
mat.is_invertible()
|
||||
&& mat[(last, last)] == N::one()
|
||||
&& (0..last).all(|i| mat[(last, i)].is_zero())
|
||||
|
|
|
@ -4,8 +4,8 @@ use std::ops::{Div, DivAssign, Index, IndexMut, Mul, MulAssign};
|
|||
use simba::scalar::{ClosedAdd, ClosedMul, RealField, SubsetOf};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimName, DimNameAdd, DimNameSum, U1, U3, U4};
|
||||
use crate::base::{DefaultAllocator, MatrixN, Scalar, VectorN};
|
||||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1, U4};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator, MatrixN, Scalar};
|
||||
|
||||
use crate::geometry::{
|
||||
Isometry, Point, Rotation, Similarity, SubTCategoryOf, SuperTCategoryOf, TAffine, TCategory,
|
||||
|
@ -107,16 +107,19 @@ where
|
|||
// Transform × Vector
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: VectorN<N, D>, Output = VectorN<N, D>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: CVectorN<N, D>, Output = CVectorN<N, D>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
[ref ref] => {
|
||||
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
|
||||
let transform = self.matrix().fixed_slice::<Const<D>, Const<D>>(0, 0);
|
||||
|
||||
if C::has_normalizer() {
|
||||
let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
|
||||
let normalizer = self.matrix().fixed_slice::<U1, Const<D>>(D, 0);
|
||||
let n = normalizer.tr_dot(&rhs);
|
||||
|
||||
if !n.is_zero() {
|
||||
|
@ -131,20 +134,22 @@ md_impl_all!(
|
|||
// Transform × Point
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory
|
||||
where DefaultAllocator: Allocator<N, D, D>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: Point<N, D>, Output = Point<N, D>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
[ref ref] => {
|
||||
let transform = self.matrix().fixed_slice::<D, D>(0, 0);
|
||||
let translation = self.matrix().fixed_slice::<D, U1>(0, D::dim());
|
||||
let transform = self.matrix().fixed_slice::<Const<D>, Const<D>>(0, 0);
|
||||
let translation = self.matrix().fixed_slice::<Const<D>, U1>(0, D);
|
||||
|
||||
if C::has_normalizer() {
|
||||
let normalizer = self.matrix().fixed_slice::<U1, D>(D::dim(), 0);
|
||||
let normalizer = self.matrix().fixed_slice::<U1, Const<D>>(D, 0);
|
||||
#[allow(clippy::suspicious_arithmetic_impl)]
|
||||
let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D::dim(), D::dim())) };
|
||||
let n = normalizer.tr_dot(&rhs.coords) + unsafe { *self.matrix().get_unchecked((D, D)) };
|
||||
|
||||
if !n.is_zero() {
|
||||
return (transform * rhs + translation) / n;
|
||||
|
@ -158,8 +163,11 @@ md_impl_all!(
|
|||
// Transform × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory;
|
||||
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for CA, CB;
|
||||
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: TCategory;
|
||||
self: Transform<N, CA, D>, rhs: Transform<N, CB, D>, Output = Transform<N, CA::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.into_inner());
|
||||
[val ref] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.matrix());
|
||||
|
@ -169,7 +177,10 @@ md_impl_all!(
|
|||
// Transform × Rotation
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, D>, rhs: Rotation<N, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -180,7 +191,10 @@ md_impl_all!(
|
|||
// Rotation × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Rotation<N, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -191,7 +205,10 @@ md_impl_all!(
|
|||
// Transform × UnitQuaternion
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
|
||||
(U4, U4), (U4, U1)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, 3>, rhs: UnitQuaternion<N>, Output = Transform<N, C::Representative, 3>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -202,7 +219,10 @@ md_impl_all!(
|
|||
// UnitQuaternion × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
|
||||
(U4, U1), (U4, U4)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategoryMul<TAffine>;
|
||||
self: UnitQuaternion<N>, rhs: Transform<N, C, 3>, Output = Transform<N, C::Representative, 3>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -213,8 +233,10 @@ md_impl_all!(
|
|||
// Transform × Isometry
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Transform<N, C, D>, rhs: Isometry<N, R, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -225,8 +247,10 @@ md_impl_all!(
|
|||
// Isometry × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Isometry<N, R, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -237,8 +261,10 @@ md_impl_all!(
|
|||
// Transform × Similarity
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Transform<N, C, D>, rhs: Similarity<N, R, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -249,8 +275,10 @@ md_impl_all!(
|
|||
// Similarity × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Similarity<N, R, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -269,7 +297,10 @@ md_impl_all!(
|
|||
// Transform × Translation
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, D>, rhs: Translation<N, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -280,8 +311,10 @@ md_impl_all!(
|
|||
// Translation × Transform
|
||||
md_impl_all!(
|
||||
Mul, mul where N: RealField;
|
||||
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Translation<N, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
[ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -292,8 +325,11 @@ md_impl_all!(
|
|||
// Transform ÷ Transform
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>;
|
||||
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>, Output = Transform<N, D, CA::Representative>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for CA, CB;
|
||||
where Const<D>: DimNameAdd<U1>, CA: TCategoryMul<CB>, CB: SubTCategoryOf<TProjective>;
|
||||
self: Transform<N, CA, D>, rhs: Transform<N, CB, D>, Output = Transform<N, CA::Representative, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.clone().inverse() };
|
||||
|
@ -303,7 +339,10 @@ md_impl_all!(
|
|||
// Transform ÷ Rotation
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, D>, rhs: Rotation<N, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
|
@ -314,7 +353,10 @@ md_impl_all!(
|
|||
// Rotation ÷ Transform
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(D, D), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(Const<D>, Const<D>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Rotation<N, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
|
@ -325,7 +367,10 @@ md_impl_all!(
|
|||
// Transform ÷ UnitQuaternion
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(U4, U4), (U4, U1) for C: TCategoryMul<TAffine>;
|
||||
(U4, U4), (U4, U1)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, 3>, rhs: UnitQuaternion<N>, Output = Transform<N, C::Representative, 3>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
|
@ -336,7 +381,10 @@ md_impl_all!(
|
|||
// UnitQuaternion ÷ Transform
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(U4, U1), (U4, U4) for C: TCategoryMul<TAffine>;
|
||||
(U4, U1), (U4, U4)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategoryMul<TAffine>;
|
||||
self: UnitQuaternion<N>, rhs: Transform<N, C, 3>, Output = Transform<N, C::Representative, 3>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
|
@ -347,9 +395,9 @@ md_impl_all!(
|
|||
// // Transform ÷ Isometry
|
||||
// md_impl_all!(
|
||||
// Div, div where N: RealField;
|
||||
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
|
||||
// where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
|
||||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >
|
||||
// where SB::Alloc: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||||
// self: Transform<N, C, D>, rhs: Isometry<N, R, D>, Output = Transform<N, C::Representative, D>;
|
||||
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.inverse().to_homogeneous());
|
||||
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.inverse().to_homogeneous());
|
||||
|
@ -360,9 +408,9 @@ md_impl_all!(
|
|||
// // Isometry ÷ Transform
|
||||
// md_impl_all!(
|
||||
// Div, div where N: RealField;
|
||||
// (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
|
||||
// where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
|
||||
// (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >
|
||||
// where SA::Alloc: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||||
// self: Isometry<N, R, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -373,10 +421,10 @@ md_impl_all!(
|
|||
// // Transform ÷ Similarity
|
||||
// md_impl_all!(
|
||||
// Div, div where N: RealField;
|
||||
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
|
||||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >
|
||||
// where SB::Alloc: Allocator<N, D, D >
|
||||
// where SB::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
|
||||
// where SB::Alloc: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||||
// self: Transform<N, C, D>, rhs: Similarity<N, R, D>, Output = Transform<N, C::Representative, D>;
|
||||
// [val val] => Self::Output::from_matrix_unchecked(self.into_inner() * rhs.to_homogeneous());
|
||||
// [ref val] => Self::Output::from_matrix_unchecked(self.matrix() * rhs.to_homogeneous());
|
||||
|
@ -387,10 +435,10 @@ md_impl_all!(
|
|||
// // Similarity ÷ Transform
|
||||
// md_impl_all!(
|
||||
// Div, div where N: RealField;
|
||||
// (D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
// for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >
|
||||
// (Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >
|
||||
// where SA::Alloc: Allocator<N, D, D >
|
||||
// where SA::Alloc: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1> >;
|
||||
// where SA::Alloc: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1> >;
|
||||
// self: Similarity<N, R, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
// [val val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
// [ref val] => Self::Output::from_matrix_unchecked(self.to_homogeneous() * rhs.into_inner());
|
||||
|
@ -401,7 +449,10 @@ md_impl_all!(
|
|||
// Transform ÷ Translation
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Transform<N, C, D>, rhs: Translation<N, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
|
||||
|
@ -412,8 +463,10 @@ md_impl_all!(
|
|||
// Translation ÷ Transform
|
||||
md_impl_all!(
|
||||
Div, div where N: RealField;
|
||||
(D, U1), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
for D: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
(Const<D>, U1), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategoryMul<TAffine>;
|
||||
self: Translation<N, D>, rhs: Transform<N, C, D>, Output = Transform<N, C::Representative, D>;
|
||||
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self.inverse() * rhs };
|
||||
|
@ -424,8 +477,11 @@ md_impl_all!(
|
|||
// Transform ×= Transform
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>) for D: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>;
|
||||
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for CA, CB;
|
||||
where Const<D>: DimNameAdd<U1>, CA: TCategory, CB: SubTCategoryOf<CA>;
|
||||
self: Transform<N, CA, D>, rhs: Transform<N, CB, D>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.into_inner();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.matrix();
|
||||
);
|
||||
|
@ -433,8 +489,10 @@ md_assign_impl_all!(
|
|||
// Transform ×= Similarity
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Transform<N, C, D>, rhs: Similarity<N, R, D>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
|
@ -443,8 +501,10 @@ md_assign_impl_all!(
|
|||
// Transform ×= Isometry
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C, R;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
self: Transform<N, C, D>, rhs: Isometry<N, R, D>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
|
@ -461,7 +521,10 @@ md_assign_impl_all!(
|
|||
// Transform ×= Translation
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: Translation<N, D>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
|
@ -470,7 +533,10 @@ md_assign_impl_all!(
|
|||
// Transform ×= Rotation
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategory;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: Rotation<N, D>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
|
@ -479,7 +545,10 @@ md_assign_impl_all!(
|
|||
// Transform ×= UnitQuaternion
|
||||
md_assign_impl_all!(
|
||||
MulAssign, mul_assign where N: RealField;
|
||||
(U4, U4), (U4, U1) for C: TCategory;
|
||||
(U4, U4), (U4, U1)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategory;
|
||||
self: Transform<N, C, 3>, rhs: UnitQuaternion<N>;
|
||||
[val] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
[ref] => *self.matrix_mut_unchecked() *= rhs.to_homogeneous();
|
||||
|
@ -488,9 +557,11 @@ md_assign_impl_all!(
|
|||
// Transform ÷= Transform
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (DimNameSum<D, U1>, DimNameSum<D, U1>)
|
||||
for D: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>;
|
||||
self: Transform<N, D, CA>, rhs: Transform<N, D, CB>;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>)
|
||||
const D;
|
||||
for CA, CB;
|
||||
where Const<D>: DimNameAdd<U1>, CA: SuperTCategoryOf<CB>, CB: SubTCategoryOf<TProjective>;
|
||||
self: Transform<N, CA, D>, rhs: Transform<N, CB, D>;
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.clone().inverse() };
|
||||
);
|
||||
|
@ -498,8 +569,8 @@ md_assign_impl_all!(
|
|||
// // Transform ÷= Similarity
|
||||
// md_assign_impl_all!(
|
||||
// DivAssign, div_assign;
|
||||
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
// for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
// self: Transform<N, C, D>, rhs: Similarity<N, R, D>;
|
||||
// [val] => *self *= rhs.inverse();
|
||||
// [ref] => *self *= rhs.inverse();
|
||||
|
@ -509,8 +580,8 @@ md_assign_impl_all!(
|
|||
// // Transform ÷= Isometry
|
||||
// md_assign_impl_all!(
|
||||
// DivAssign, div_assign;
|
||||
// (DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1)
|
||||
// for D: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<D, U1>> >;
|
||||
// (DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
// for Const<D>: DimNameAdd<U1>, C: TCategory, R: SubsetOf<MatrixN<N, DimNameSum<Const<D>, U1>> >;
|
||||
// self: Transform<N, C, D>, rhs: Isometry<N, R, D>;
|
||||
// [val] => *self *= rhs.inverse();
|
||||
// [ref] => *self *= rhs.inverse();
|
||||
|
@ -519,7 +590,10 @@ md_assign_impl_all!(
|
|||
// Transform ÷= Translation
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, U1) for D: DimNameAdd<U1>, C: TCategory;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, U1)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: Translation<N, D>;
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -528,7 +602,10 @@ md_assign_impl_all!(
|
|||
// Transform ÷= Rotation
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: RealField;
|
||||
(DimNameSum<D, U1>, DimNameSum<D, U1>), (D, D) for D: DimNameAdd<U1>, C: TCategory;
|
||||
(DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>), (Const<D>, Const<D>)
|
||||
const D;
|
||||
for C;
|
||||
where Const<D>: DimNameAdd<U1>, C: TCategory;
|
||||
self: Transform<N, C, D>, rhs: Rotation<N, D>;
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
@ -537,7 +614,10 @@ md_assign_impl_all!(
|
|||
// Transform ÷= UnitQuaternion
|
||||
md_assign_impl_all!(
|
||||
DivAssign, div_assign where N: RealField;
|
||||
(U4, U4), (U4, U1) for C: TCategory;
|
||||
(U4, U4), (U4, U1)
|
||||
const;
|
||||
for C;
|
||||
where C: TCategory;
|
||||
self: Transform<N, C, 3>, rhs: UnitQuaternion<N>;
|
||||
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
|
||||
|
|
|
@ -34,7 +34,6 @@ pub struct Translation<N: Scalar, const D: usize>
|
|||
|
||||
impl<N: Scalar + hash::Hash, const D: usize> hash::Hash for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, Const<D>>: hash::Hash,
|
||||
{
|
||||
fn hash<H: hash::Hasher>(&self, state: &mut H) {
|
||||
|
@ -42,15 +41,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: Scalar + Copy, const D: usize> Copy for Translation<N, D> where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, Const<D>>: Copy
|
||||
{
|
||||
}
|
||||
impl<N: Scalar + Copy, const D: usize> Copy for Translation<N, D> where Owned<N, Const<D>>: Copy {}
|
||||
|
||||
impl<N: Scalar, const D: usize> Clone for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, Const<D>>: Clone,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -60,12 +54,10 @@ where
|
|||
}
|
||||
|
||||
#[cfg(feature = "abomonation-serialize")]
|
||||
impl<N, D> Abomonation for Translation<N, D>
|
||||
impl<N, const D: usize> Abomonation for Translation<N, D>
|
||||
where
|
||||
N: Scalar,
|
||||
D: DimName,
|
||||
CVectorN<N, D>: Abomonation,
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
unsafe fn entomb<W: Write>(&self, writer: &mut W) -> IOResult<()> {
|
||||
self.vector.entomb(writer)
|
||||
|
@ -83,8 +75,7 @@ where
|
|||
#[cfg(feature = "serde-serialize")]
|
||||
impl<N: Scalar, const D: usize> Serialize for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Serialize,
|
||||
Owned<N, Const<D>>: Serialize,
|
||||
{
|
||||
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
|
||||
where
|
||||
|
@ -97,8 +88,7 @@ where
|
|||
#[cfg(feature = "serde-serialize")]
|
||||
impl<'a, N: Scalar, const D: usize> Deserialize<'a> for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Deserialize<'a>,
|
||||
Owned<N, Const<D>>: Deserialize<'a>,
|
||||
{
|
||||
fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error>
|
||||
where
|
||||
|
@ -169,8 +159,9 @@ impl<N: Scalar, const D: usize> Translation<N, D>
|
|||
Const<D>: DimNameAdd<U1>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
|
||||
res.fixed_slice_mut::<D, U1>(0, D).copy_from(&self.vector);
|
||||
let mut res = MatrixN::<N, DimNameSum<Const<D>, U1>>::identity();
|
||||
res.fixed_slice_mut::<Const<D>, U1>(0, D)
|
||||
.copy_from(&self.vector);
|
||||
|
||||
res
|
||||
}
|
||||
|
@ -257,7 +248,6 @@ impl<N: Scalar + PartialEq, const D: usize> PartialEq for Translation<N, D>
|
|||
|
||||
impl<N: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
type Epsilon = N::Epsilon;
|
||||
|
@ -275,7 +265,6 @@ where
|
|||
|
||||
impl<N: Scalar + RelativeEq, const D: usize> RelativeEq for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
@ -297,7 +286,6 @@ where
|
|||
|
||||
impl<N: Scalar + UlpsEq, const D: usize> UlpsEq for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
N::Epsilon: Copy,
|
||||
{
|
||||
#[inline]
|
||||
|
|
|
@ -12,7 +12,7 @@ use rand::{
|
|||
|
||||
use simba::scalar::{ClosedAdd, SupersetOf};
|
||||
|
||||
use crate::base::{CVectorN, Scalar};
|
||||
use crate::base::{CVectorN, Const, Scalar};
|
||||
|
||||
use crate::geometry::Translation;
|
||||
|
||||
|
@ -54,7 +54,6 @@ impl<N: Scalar, const D: usize> Translation<N, D>
|
|||
pub fn cast<To: Scalar>(self) -> Translation<To, D>
|
||||
where
|
||||
Translation<To, D>: SupersetOf<Self>,
|
||||
// DefaultAllocator: Allocator<To, D>,
|
||||
{
|
||||
crate::convert(self)
|
||||
}
|
||||
|
@ -73,7 +72,6 @@ impl<N: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<N, D>
|
|||
#[cfg(feature = "rand-no-std")]
|
||||
impl<N: Scalar, const D: usize> Distribution<Translation<N, D>> for Standard
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Standard: Distribution<N>,
|
||||
{
|
||||
/// Generate an arbitrary random variate for testing purposes.
|
||||
|
@ -86,8 +84,7 @@ where
|
|||
#[cfg(feature = "arbitrary")]
|
||||
impl<N: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Translation<N, D>
|
||||
where
|
||||
// DefaultAllocator: Allocator<N, D>,
|
||||
Owned<N, D>: Send,
|
||||
Owned<N, Const<D>>: Send,
|
||||
{
|
||||
#[inline]
|
||||
fn arbitrary(rng: &mut Gen) -> Self {
|
||||
|
|
|
@ -5,7 +5,7 @@ use simba::simd::PrimitiveSimdValue;
|
|||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::{Const, DefaultAllocator, MatrixN, Scalar, VectorN};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator, MatrixN, Scalar, VectorN};
|
||||
|
||||
use crate::geometry::{
|
||||
AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
|
||||
|
@ -28,7 +28,6 @@ impl<N1, N2, const D: usize> SubsetOf<Translation<N2, D>> for Translation<N1, D>
|
|||
where
|
||||
N1: Scalar,
|
||||
N2: Scalar + SupersetOf<N1>,
|
||||
// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Translation<N2, D> {
|
||||
|
@ -37,7 +36,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(rot: &Translation<N2, D>) -> bool {
|
||||
crate::is_convertible::<_, VectorN<N1, D>>(&rot.vector)
|
||||
crate::is_convertible::<_, CVectorN<N1, D>>(&rot.vector)
|
||||
}
|
||||
|
||||
#[inline]
|
||||
|
@ -53,7 +52,6 @@ where
|
|||
N1: RealField,
|
||||
N2: RealField + SupersetOf<N1>,
|
||||
R: AbstractRotation<N2, D>,
|
||||
// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Isometry<N2, R, D> {
|
||||
|
@ -84,7 +82,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(dq: &UnitDualQuaternion<N2>) -> bool {
|
||||
crate::is_convertible::<_, Translation<N1, _>>(&dq.translation())
|
||||
crate::is_convertible::<_, Translation<N1, 3>>(&dq.translation())
|
||||
&& dq.rotation() == UnitQuaternion::identity()
|
||||
}
|
||||
|
||||
|
@ -100,7 +98,6 @@ where
|
|||
N1: RealField,
|
||||
N2: RealField + SupersetOf<N1>,
|
||||
R: AbstractRotation<N2, D>,
|
||||
// DefaultAllocator: Allocator<N1, D> + Allocator<N2, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_superset(&self) -> Similarity<N2, R, D> {
|
||||
|
@ -160,7 +157,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn is_in_subset(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> bool {
|
||||
let id = m.fixed_slice::<DimNameSum<Const<D>, U1>, D>(0, 0);
|
||||
let id = m.fixed_slice::<DimNameSum<Const<D>, U1>, Const<D>>(0, 0);
|
||||
|
||||
// Scalar types agree.
|
||||
m.iter().all(|e| SupersetOf::<N1>::is_in_subset(e)) &&
|
||||
|
@ -172,7 +169,7 @@ where
|
|||
|
||||
#[inline]
|
||||
fn from_superset_unchecked(m: &MatrixN<N2, DimNameSum<Const<D>, U1>>) -> Self {
|
||||
let t = m.fixed_slice::<D, U1>(0, D);
|
||||
let t = m.fixed_slice::<Const<D>, U1>(0, D);
|
||||
Self {
|
||||
vector: crate::convert_unchecked(t.into_owned()),
|
||||
}
|
||||
|
@ -207,7 +204,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<N::Elemen
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 2]>,
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<N::Element, D>; 2]) -> Self {
|
||||
|
@ -223,7 +219,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<N::Elemen
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 4]>,
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<N::Element, D>; 4]) -> Self {
|
||||
|
@ -241,7 +236,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<N::Elemen
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 8]>,
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<N::Element, D>; 8]) -> Self {
|
||||
|
@ -263,7 +257,6 @@ impl<N: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<N::Elemen
|
|||
where
|
||||
N: From<[<N as simba::simd::SimdValue>::Element; 16]>,
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn from(arr: [Translation<N::Element, D>; 16]) -> Self {
|
||||
|
|
|
@ -4,57 +4,65 @@ use simba::scalar::{ClosedAdd, ClosedSub};
|
|||
|
||||
use crate::base::allocator::{Allocator, SameShapeAllocator};
|
||||
use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
|
||||
use crate::base::dimension::{DimName, U1};
|
||||
use crate::base::{DefaultAllocator, Scalar};
|
||||
use crate::base::dimension::U1;
|
||||
use crate::base::{Const, DefaultAllocator, Scalar};
|
||||
|
||||
use crate::geometry::{Point, Translation};
|
||||
|
||||
// Translation × Translation
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + &right.vector) };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + right.vector) };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + &right.vector) };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
|
||||
|
||||
// Translation ÷ Translation
|
||||
// TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - &right.vector) };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - right.vector) };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: &'b Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - &right.vector) };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Div, div, ClosedSub;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: Translation<N, D>, Output = Translation<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
|
||||
|
||||
|
@ -62,47 +70,51 @@ add_sub_impl!(Div, div, ClosedSub;
|
|||
// TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
|
||||
// behavior?
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: &'b Point<N, D>, Output = Point<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
|
||||
'a, 'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: &'a Translation<N, D>, right: Point<N, D>, Output = Point<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
|
||||
'a);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: &'b Point<N, D>, Output = Point<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector };
|
||||
'b);
|
||||
|
||||
add_sub_impl!(Mul, mul, ClosedAdd;
|
||||
(D, U1), (D, U1) -> (D) for D: DimName;
|
||||
(Const<D>, U1), (Const<D>, U1) -> (Const<D>)
|
||||
const D; for; where;
|
||||
self: Translation<N, D>, right: Point<N, D>, Output = Point<N, D>;
|
||||
#[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector }; );
|
||||
|
||||
// Translation *= Translation
|
||||
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
|
||||
(D, U1), (D, U1) for D: DimName;
|
||||
const D;
|
||||
self: Translation<N, D>, right: &'b Translation<N, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector += &right.vector };
|
||||
'b);
|
||||
|
||||
add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
|
||||
(D, U1), (D, U1) for D: DimName;
|
||||
const D;
|
||||
self: Translation<N, D>, right: Translation<N, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector += right.vector }; );
|
||||
|
||||
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
|
||||
(D, U1), (D, U1) for D: DimName;
|
||||
const D;
|
||||
self: Translation<N, D>, right: &'b Translation<N, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector -= &right.vector };
|
||||
'b);
|
||||
|
||||
add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
|
||||
(D, U1), (D, U1) for D: DimName;
|
||||
const D;
|
||||
self: Translation<N, D>, right: Translation<N, D>;
|
||||
#[allow(clippy::suspicious_op_assign_impl)] { self.vector -= right.vector }; );
|
||||
|
|
|
@ -8,7 +8,6 @@ use crate::geometry::Translation;
|
|||
impl<N: Scalar + SimdValue, const D: usize> SimdValue for Translation<N, D>
|
||||
where
|
||||
N::Element: Scalar,
|
||||
// DefaultAllocator: Allocator<N, D> + Allocator<N::Element, D>,
|
||||
{
|
||||
type Element = Translation<N::Element, D>;
|
||||
type SimdBool = N::SimdBool;
|
||||
|
|
|
@ -1,9 +1,7 @@
|
|||
use std::ops::{Div, DivAssign, Mul, MulAssign};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{U1, U2};
|
||||
use crate::base::storage::Storage;
|
||||
use crate::base::{DefaultAllocator, Unit, Vector, Vector2};
|
||||
use crate::base::{Const, Unit, Vector, Vector2};
|
||||
use crate::geometry::{Isometry, Point2, Rotation, Similarity, Translation, UnitComplex};
|
||||
use simba::simd::SimdRealField;
|
||||
|
||||
|
@ -142,12 +140,11 @@ where
|
|||
|
||||
macro_rules! complex_op_impl(
|
||||
($Op: ident, $op: ident;
|
||||
($RDim: ident, $CDim: ident) $(for $Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$($Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
$action: expr; $($lives: tt),*) => {
|
||||
impl<$($lives ,)* N: SimdRealField $(, $Storage: $StoragesBound $(<$($BoundParam),*>)*)*> $Op<$Rhs> for $Lhs
|
||||
where N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, $RDim, $CDim> {
|
||||
where N::Element: SimdRealField {
|
||||
type Output = $Result;
|
||||
|
||||
#[inline]
|
||||
|
@ -160,7 +157,7 @@ macro_rules! complex_op_impl(
|
|||
|
||||
macro_rules! complex_op_impl_all(
|
||||
($Op: ident, $op: ident;
|
||||
($RDim: ident, $CDim: ident) $(for $Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$($Storage: ident: $StoragesBound: ident $(<$($BoundParam: ty),*>)*),*;
|
||||
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Result: ty;
|
||||
[val val] => $action_val_val: expr;
|
||||
[ref val] => $action_ref_val: expr;
|
||||
|
@ -168,22 +165,22 @@ macro_rules! complex_op_impl_all(
|
|||
[ref ref] => $action_ref_ref: expr;) => {
|
||||
|
||||
complex_op_impl!($Op, $op;
|
||||
($RDim, $CDim) $(for $Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: $Rhs, Output = $Result;
|
||||
$action_val_val; );
|
||||
|
||||
complex_op_impl!($Op, $op;
|
||||
($RDim, $CDim) $(for $Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Result;
|
||||
$action_ref_val; 'a);
|
||||
|
||||
complex_op_impl!($Op, $op;
|
||||
($RDim, $CDim) $(for $Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Result;
|
||||
$action_val_ref; 'b);
|
||||
|
||||
complex_op_impl!($Op, $op;
|
||||
($RDim, $CDim) $(for $Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$($Storage: $StoragesBound $(<$($BoundParam),*>)*),*;
|
||||
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Result;
|
||||
$action_ref_ref; 'a, 'b);
|
||||
|
||||
|
@ -194,8 +191,8 @@ macro_rules! complex_op_impl_all(
|
|||
// UnitComplex × Rotation
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U2);
|
||||
self: UnitComplex<N>, rhs: Rotation<N, U2>, Output = UnitComplex<N>;
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Rotation<N, 2>, Output = UnitComplex<N>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -205,8 +202,8 @@ complex_op_impl_all!(
|
|||
// UnitComplex ÷ Rotation
|
||||
complex_op_impl_all!(
|
||||
Div, div;
|
||||
(U2, U2);
|
||||
self: UnitComplex<N>, rhs: Rotation<N, U2>, Output = UnitComplex<N>;
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Rotation<N, 2>, Output = UnitComplex<N>;
|
||||
[val val] => &self / &rhs;
|
||||
[ref val] => self / &rhs;
|
||||
[val ref] => &self / rhs;
|
||||
|
@ -216,8 +213,8 @@ complex_op_impl_all!(
|
|||
// Rotation × UnitComplex
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U2);
|
||||
self: Rotation<N, U2>, rhs: UnitComplex<N>, Output = UnitComplex<N>;
|
||||
;
|
||||
self: Rotation<N, 2>, rhs: UnitComplex<N>, Output = UnitComplex<N>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -227,8 +224,8 @@ complex_op_impl_all!(
|
|||
// Rotation ÷ UnitComplex
|
||||
complex_op_impl_all!(
|
||||
Div, div;
|
||||
(U2, U2);
|
||||
self: Rotation<N, U2>, rhs: UnitComplex<N>, Output = UnitComplex<N>;
|
||||
;
|
||||
self: Rotation<N, 2>, rhs: UnitComplex<N>, Output = UnitComplex<N>;
|
||||
[val val] => &self / &rhs;
|
||||
[ref val] => self / &rhs;
|
||||
[val ref] => &self / rhs;
|
||||
|
@ -238,7 +235,7 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Point
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1);
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Point2<N>, Output = Point2<N>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
|
@ -249,8 +246,8 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Vector
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1) for S: Storage<N, U2>;
|
||||
self: UnitComplex<N>, rhs: Vector<N, U2, S>, Output = Vector2<N>;
|
||||
S: Storage<N, Const<2>>;
|
||||
self: UnitComplex<N>, rhs: Vector<N, Const<2>, S>, Output = Vector2<N>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -264,8 +261,8 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Unit<Vector>
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1) for S: Storage<N, U2>;
|
||||
self: UnitComplex<N>, rhs: Unit<Vector<N, U2, S>>, Output = Unit<Vector2<N>>;
|
||||
S: Storage<N, Const<2>>;
|
||||
self: UnitComplex<N>, rhs: Unit<Vector<N, Const<2>, S>>, Output = Unit<Vector2<N>>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -275,9 +272,9 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Isometry<UnitComplex>
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1);
|
||||
self: UnitComplex<N>, rhs: Isometry<N, U2, UnitComplex<N>>,
|
||||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Isometry<N, UnitComplex<N>, 2>,
|
||||
Output = Isometry<N, UnitComplex<N>, 2>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -290,9 +287,9 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Similarity<UnitComplex>
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1);
|
||||
self: UnitComplex<N>, rhs: Similarity<N, U2, UnitComplex<N>>,
|
||||
Output = Similarity<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Similarity<N, UnitComplex<N>, 2>,
|
||||
Output = Similarity<N, UnitComplex<N>, 2>;
|
||||
[val val] => &self * &rhs;
|
||||
[ref val] => self * &rhs;
|
||||
[val ref] => &self * rhs;
|
||||
|
@ -302,9 +299,9 @@ complex_op_impl_all!(
|
|||
// UnitComplex × Translation
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1);
|
||||
self: UnitComplex<N>, rhs: Translation<N, U2>,
|
||||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: UnitComplex<N>, rhs: Translation<N, 2>,
|
||||
Output = Isometry<N, UnitComplex<N>, 2>;
|
||||
[val val] => Isometry::from_parts(Translation::from(&self * rhs.vector), self);
|
||||
[ref val] => Isometry::from_parts(Translation::from( self * rhs.vector), *self);
|
||||
[val ref] => Isometry::from_parts(Translation::from(&self * &rhs.vector), self);
|
||||
|
@ -314,9 +311,9 @@ complex_op_impl_all!(
|
|||
// Translation × UnitComplex
|
||||
complex_op_impl_all!(
|
||||
Mul, mul;
|
||||
(U2, U1);
|
||||
self: Translation<N, U2>, right: UnitComplex<N>,
|
||||
Output = Isometry<N, U2, UnitComplex<N>>;
|
||||
;
|
||||
self: Translation<N, 2>, right: UnitComplex<N>,
|
||||
Output = Isometry<N, UnitComplex<N>, 2>;
|
||||
[val val] => Isometry::from_parts(self, right);
|
||||
[ref val] => Isometry::from_parts(self.clone(), right);
|
||||
[val ref] => Isometry::from_parts(self, *right);
|
||||
|
@ -366,56 +363,51 @@ where
|
|||
}
|
||||
|
||||
// UnitComplex ×= Rotation
|
||||
impl<N: SimdRealField> MulAssign<Rotation<N, U2>> for UnitComplex<N>
|
||||
impl<N: SimdRealField> MulAssign<Rotation<N, 2>> for UnitComplex<N>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: Rotation<N, U2>) {
|
||||
fn mul_assign(&mut self, rhs: Rotation<N, 2>) {
|
||||
*self = &*self * rhs
|
||||
}
|
||||
}
|
||||
|
||||
impl<'b, N: SimdRealField> MulAssign<&'b Rotation<N, U2>> for UnitComplex<N>
|
||||
impl<'b, N: SimdRealField> MulAssign<&'b Rotation<N, 2>> for UnitComplex<N>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: &'b Rotation<N, U2>) {
|
||||
fn mul_assign(&mut self, rhs: &'b Rotation<N, 2>) {
|
||||
*self = &*self * rhs
|
||||
}
|
||||
}
|
||||
|
||||
// UnitComplex ÷= Rotation
|
||||
impl<N: SimdRealField> DivAssign<Rotation<N, U2>> for UnitComplex<N>
|
||||
impl<N: SimdRealField> DivAssign<Rotation<N, 2>> for UnitComplex<N>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: Rotation<N, U2>) {
|
||||
fn div_assign(&mut self, rhs: Rotation<N, 2>) {
|
||||
*self = &*self / rhs
|
||||
}
|
||||
}
|
||||
|
||||
impl<'b, N: SimdRealField> DivAssign<&'b Rotation<N, U2>> for UnitComplex<N>
|
||||
impl<'b, N: SimdRealField> DivAssign<&'b Rotation<N, 2>> for UnitComplex<N>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: &'b Rotation<N, U2>) {
|
||||
fn div_assign(&mut self, rhs: &'b Rotation<N, 2>) {
|
||||
*self = &*self / rhs
|
||||
}
|
||||
}
|
||||
|
||||
// Rotation ×= UnitComplex
|
||||
impl<N: SimdRealField> MulAssign<UnitComplex<N>> for Rotation<N, U2>
|
||||
impl<N: SimdRealField> MulAssign<UnitComplex<N>> for Rotation<N, 2>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: UnitComplex<N>) {
|
||||
|
@ -423,10 +415,9 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<'b, N: SimdRealField> MulAssign<&'b UnitComplex<N>> for Rotation<N, U2>
|
||||
impl<'b, N: SimdRealField> MulAssign<&'b UnitComplex<N>> for Rotation<N, 2>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn mul_assign(&mut self, rhs: &'b UnitComplex<N>) {
|
||||
|
@ -435,10 +426,9 @@ where
|
|||
}
|
||||
|
||||
// Rotation ÷= UnitComplex
|
||||
impl<N: SimdRealField> DivAssign<UnitComplex<N>> for Rotation<N, U2>
|
||||
impl<N: SimdRealField> DivAssign<UnitComplex<N>> for Rotation<N, 2>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: UnitComplex<N>) {
|
||||
|
@ -446,10 +436,9 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<'b, N: SimdRealField> DivAssign<&'b UnitComplex<N>> for Rotation<N, U2>
|
||||
impl<'b, N: SimdRealField> DivAssign<&'b UnitComplex<N>> for Rotation<N, 2>
|
||||
where
|
||||
N::Element: SimdRealField,
|
||||
DefaultAllocator: Allocator<N, U2, U2>,
|
||||
{
|
||||
#[inline]
|
||||
fn div_assign(&mut self, rhs: &'b UnitComplex<N>) {
|
||||
|
|
|
@ -53,20 +53,20 @@
|
|||
//! with [matrix](fn.matrix.html) as follows:
|
||||
//!
|
||||
//! ```rust
|
||||
//! use nalgebra::{Dynamic, MatrixMN, U3};
|
||||
//! use nalgebra::{Dynamic, MatrixMN, Const};
|
||||
//! use nalgebra::proptest::matrix;
|
||||
//! use proptest::prelude::*;
|
||||
//!
|
||||
//! type MyMatrix = MatrixMN<i32, U3, Dynamic>;
|
||||
//! type MyMatrix = MatrixMN<i32, Const::<3>, Dynamic>;
|
||||
//!
|
||||
//! /// Returns a strategy for pairs of matrices with `U3` rows and the same number of
|
||||
//! /// columns.
|
||||
//! fn matrix_pairs() -> impl Strategy<Value=(MyMatrix, MyMatrix)> {
|
||||
//! matrix(-5 ..= 5, U3, 0 ..= 10)
|
||||
//! matrix(-5 ..= 5, Const::<3>, 0 ..= 10)
|
||||
//! // We first generate the initial matrix `a`, and then depending on the concrete
|
||||
//! // instances of `a`, we pick a second matrix with the same number of columns
|
||||
//! .prop_flat_map(|a| {
|
||||
//! let b = matrix(-5 .. 5, U3, a.ncols());
|
||||
//! let b = matrix(-5 .. 5, Const::<3>, a.ncols());
|
||||
//! // This returns a new tuple strategy where we keep `a` fixed while
|
||||
//! // the second item is a strategy that generates instances with the same
|
||||
//! // dimensions as `a`
|
||||
|
@ -141,7 +141,7 @@
|
|||
//! PROPTEST_MAX_SHRINK_ITERS=100000 cargo test my_failing_test
|
||||
//! ```
|
||||
use crate::allocator::Allocator;
|
||||
use crate::{DefaultAllocator, Dim, DimName, Dynamic, MatrixMN, Scalar, U1};
|
||||
use crate::{Const, DefaultAllocator, Dim, DimName, Dynamic, MatrixMN, Scalar, U1};
|
||||
use proptest::arbitrary::Arbitrary;
|
||||
use proptest::collection::vec;
|
||||
use proptest::strategy::{BoxedStrategy, Just, NewTree, Strategy, ValueTree};
|
||||
|
@ -225,16 +225,16 @@ fn dynamic_dim_range() -> DimRange<Dynamic> {
|
|||
/// ## Examples
|
||||
/// ```
|
||||
/// use nalgebra::proptest::matrix;
|
||||
/// use nalgebra::{MatrixMN, U3, Dynamic};
|
||||
/// use nalgebra::{MatrixMN, Const, Dynamic};
|
||||
/// use proptest::prelude::*;
|
||||
///
|
||||
/// proptest! {
|
||||
/// # /*
|
||||
/// #[test]
|
||||
/// # */
|
||||
/// fn my_test(a in matrix(0 .. 5i32, U3, 0 ..= 5)) {
|
||||
/// fn my_test(a in matrix(0 .. 5i32, Const::<3>, 0 ..= 5)) {
|
||||
/// // Let's make sure we've got the correct type first
|
||||
/// let a: MatrixMN<_, U3, Dynamic> = a;
|
||||
/// let a: MatrixMN<_, Const::<3>, Dynamic> = a;
|
||||
/// prop_assert!(a.nrows() == 3);
|
||||
/// prop_assert!(a.ncols() <= 5);
|
||||
/// prop_assert!(a.iter().all(|x_ij| *x_ij >= 0 && *x_ij < 5));
|
||||
|
@ -329,7 +329,7 @@ where
|
|||
D: Dim,
|
||||
DefaultAllocator: Allocator<ScalarStrategy::Value, D>,
|
||||
{
|
||||
matrix_(value_strategy, length.into(), U1.into())
|
||||
matrix_(value_strategy, length.into(), Const::<1>.into())
|
||||
}
|
||||
|
||||
impl<NParameters, R, C> Default for MatrixParameters<NParameters, R, C>
|
||||
|
|
|
@ -8,9 +8,7 @@ use alga::linear::{
|
|||
Transformation,
|
||||
};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::DimName;
|
||||
use crate::base::{DefaultAllocator, VectorN};
|
||||
use crate::base::CVectorN;
|
||||
|
||||
use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
|
||||
|
||||
|
@ -19,11 +17,10 @@ use crate::geometry::{AbstractRotation, Isometry, Point, Translation};
|
|||
* Algebraic structures.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> Identity<Multiplicative>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> Identity<Multiplicative>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn identity() -> Self {
|
||||
|
@ -31,11 +28,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> TwoSidedInverse<Multiplicative>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> TwoSidedInverse<Multiplicative>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
#[must_use = "Did you mean to use two_sided_inverse_mut()?"]
|
||||
|
@ -49,11 +45,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> AbstractMagma<Multiplicative>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> AbstractMagma<Multiplicative>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn operate(&self, rhs: &Self) -> Self {
|
||||
|
@ -63,9 +58,8 @@ where
|
|||
|
||||
macro_rules! impl_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> $marker<$operator> for Isometry<N, D, R>
|
||||
where R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> $marker<$operator> for Isometry<N, R, D>
|
||||
where R: Rotation<Point<N, D>> + AbstractRotation<N, D> { }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
@ -82,11 +76,10 @@ impl_multiplicative_structures!(
|
|||
* Transformation groups.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> Transformation<Point<N, D>>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> Transformation<Point<N, D>>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -94,16 +87,15 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> ProjectiveTransformation<Point<N, D>>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize>
|
||||
ProjectiveTransformation<Point<N, D>> for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -111,16 +103,15 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn inverse_transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.inverse_transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> AffineTransformation<Point<N, D>>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> AffineTransformation<Point<N, D>>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Rotation = R;
|
||||
type NonUniformScaling = Id;
|
||||
|
@ -175,11 +166,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> Similarity<Point<N, D>>
|
||||
for Isometry<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> Similarity<Point<N, D>>
|
||||
for Isometry<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Scaling = Id;
|
||||
|
||||
|
@ -201,9 +191,8 @@ where
|
|||
|
||||
macro_rules! marker_impl(
|
||||
($($Trait: ident),*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> $Trait<Point<N, D>> for Isometry<N, D, R>
|
||||
where R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> $Trait<Point<N, D>> for Isometry<N, R, D>
|
||||
where R: Rotation<Point<N, D>> + AbstractRotation<N, D> { }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
|
|
@ -1,25 +1,19 @@
|
|||
use alga::general::{Field, JoinSemilattice, Lattice, MeetSemilattice, RealField};
|
||||
use alga::linear::{AffineSpace, EuclideanSpace};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::DimName;
|
||||
use crate::base::{DefaultAllocator, Scalar, VectorN};
|
||||
use crate::base::{CVectorN, Scalar};
|
||||
|
||||
use crate::geometry::Point;
|
||||
|
||||
impl<N: Scalar + Field, D: DimName> AffineSpace for Point<N, D>
|
||||
impl<N: Scalar + Field, const D: usize> AffineSpace for Point<N, D>
|
||||
where
|
||||
N: Scalar + Field,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Translation = VectorN<N, D>;
|
||||
type Translation = CVectorN<N, D>;
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> EuclideanSpace for Point<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Coordinates = VectorN<N, D>;
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> EuclideanSpace for Point<N, D> {
|
||||
type Coordinates = CVectorN<N, D>;
|
||||
type RealField = N;
|
||||
|
||||
#[inline]
|
||||
|
@ -48,10 +42,9 @@ where
|
|||
* Ordering
|
||||
*
|
||||
*/
|
||||
impl<N, D: DimName> MeetSemilattice for Point<N, D>
|
||||
impl<N, const D: usize> MeetSemilattice for Point<N, D>
|
||||
where
|
||||
N: Scalar + MeetSemilattice,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn meet(&self, other: &Self) -> Self {
|
||||
|
@ -59,10 +52,9 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N, D: DimName> JoinSemilattice for Point<N, D>
|
||||
impl<N, const D: usize> JoinSemilattice for Point<N, D>
|
||||
where
|
||||
N: Scalar + JoinSemilattice,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn join(&self, other: &Self) -> Self {
|
||||
|
@ -70,10 +62,9 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N, D: DimName> Lattice for Point<N, D>
|
||||
impl<N, const D: usize> Lattice for Point<N, D>
|
||||
where
|
||||
N: Scalar + Lattice,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn meet_join(&self, other: &Self) -> (Self, Self) {
|
||||
|
|
|
@ -7,10 +7,7 @@ use alga::linear::{
|
|||
ProjectiveTransformation, Similarity, Transformation,
|
||||
};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::DimName;
|
||||
use crate::base::{DefaultAllocator, VectorN};
|
||||
|
||||
use crate::base::CVectorN;
|
||||
use crate::geometry::{Point, Rotation};
|
||||
|
||||
/*
|
||||
|
@ -18,10 +15,8 @@ use crate::geometry::{Point, Rotation};
|
|||
* Algebraic structures.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Identity<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Identity<Multiplicative>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn identity() -> Self {
|
||||
|
@ -29,10 +24,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> TwoSidedInverse<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> TwoSidedInverse<Multiplicative>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
#[must_use = "Did you mean to use two_sided_inverse_mut()?"]
|
||||
|
@ -46,10 +39,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> AbstractMagma<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> AbstractMagma<Multiplicative>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn operate(&self, rhs: &Self) -> Self {
|
||||
|
@ -59,8 +50,8 @@ where
|
|||
|
||||
macro_rules! impl_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> $marker<$operator> for Rotation<N, D>
|
||||
where DefaultAllocator: Allocator<N, D, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> $marker<$operator> for Rotation<N, D>
|
||||
{ }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
@ -77,10 +68,8 @@ impl_multiplicative_structures!(
|
|||
* Transformation groups.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Transformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Transformation<Point<N, D>>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -88,15 +77,13 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> ProjectiveTransformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> ProjectiveTransformation<Point<N, D>>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -104,15 +91,13 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn inverse_transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.inverse_transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> AffineTransformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> AffineTransformation<Point<N, D>>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
{
|
||||
type Rotation = Self;
|
||||
type NonUniformScaling = Id;
|
||||
|
@ -154,9 +139,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Similarity<Point<N, D>> for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Similarity<Point<N, D>>
|
||||
for Rotation<N, D>
|
||||
{
|
||||
type Scaling = Id;
|
||||
|
||||
|
@ -178,19 +162,16 @@ where
|
|||
|
||||
macro_rules! marker_impl(
|
||||
($($Trait: ident),*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> $Trait<Point<N, D>> for Rotation<N, D>
|
||||
where DefaultAllocator: Allocator<N, D, D> +
|
||||
Allocator<N, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> $Trait<Point<N, D>> for Rotation<N, D>
|
||||
{ }
|
||||
)*}
|
||||
);
|
||||
|
||||
marker_impl!(Isometry, DirectIsometry, OrthogonalTransformation);
|
||||
|
||||
/// Subgroups of the n-dimensional rotation group `SO(n)`.
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> linear::Rotation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> linear::Rotation<Point<N, D>>
|
||||
for Rotation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn powf(&self, _: N) -> Option<Self> {
|
||||
|
@ -200,14 +181,14 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn rotation_between(_: &VectorN<N, D>, _: &VectorN<N, D>) -> Option<Self> {
|
||||
fn rotation_between(_: &CVectorN<N, D>, _: &CVectorN<N, D>) -> Option<Self> {
|
||||
// XXX: Add the general case.
|
||||
// XXX: Use specialization for 2D and 3D.
|
||||
unimplemented!()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn scaled_rotation_between(_: &VectorN<N, D>, _: &VectorN<N, D>, _: N) -> Option<Self> {
|
||||
fn scaled_rotation_between(_: &CVectorN<N, D>, _: &CVectorN<N, D>, _: N) -> Option<Self> {
|
||||
// XXX: Add the general case.
|
||||
// XXX: Use specialization for 2D and 3D.
|
||||
unimplemented!()
|
||||
|
|
|
@ -5,10 +5,7 @@ use alga::general::{
|
|||
use alga::linear::Similarity as AlgaSimilarity;
|
||||
use alga::linear::{AffineTransformation, ProjectiveTransformation, Rotation, Transformation};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::DimName;
|
||||
use crate::base::{DefaultAllocator, VectorN};
|
||||
|
||||
use crate::base::CVectorN;
|
||||
use crate::geometry::{AbstractRotation, Point, Similarity, Translation};
|
||||
|
||||
/*
|
||||
|
@ -16,11 +13,10 @@ use crate::geometry::{AbstractRotation, Point, Similarity, Translation};
|
|||
* Algebraic structures.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> Identity<Multiplicative>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> Identity<Multiplicative>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn identity() -> Self {
|
||||
|
@ -28,11 +24,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> TwoSidedInverse<Multiplicative>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> TwoSidedInverse<Multiplicative>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
#[must_use = "Did you mean to use two_sided_inverse_mut()?"]
|
||||
|
@ -46,11 +41,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> AbstractMagma<Multiplicative>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> AbstractMagma<Multiplicative>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn operate(&self, rhs: &Self) -> Self {
|
||||
|
@ -60,9 +54,9 @@ where
|
|||
|
||||
macro_rules! impl_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> $marker<$operator> for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> $marker<$operator> for Similarity<N, R, D>
|
||||
where R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D> { }
|
||||
{ }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
@ -79,11 +73,10 @@ impl_multiplicative_structures!(
|
|||
* Transformation groups.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> Transformation<Point<N, D>>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> Transformation<Point<N, D>>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -91,16 +84,15 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> ProjectiveTransformation<Point<N, D>>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize>
|
||||
ProjectiveTransformation<Point<N, D>> for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -108,16 +100,15 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn inverse_transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.inverse_transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> AffineTransformation<Point<N, D>>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> AffineTransformation<Point<N, D>>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type NonUniformScaling = N;
|
||||
type Rotation = R;
|
||||
|
@ -171,11 +162,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName, R> AlgaSimilarity<Point<N, D>>
|
||||
for Similarity<N, D, R>
|
||||
impl<N: RealField + simba::scalar::RealField, R, const D: usize> AlgaSimilarity<Point<N, D>>
|
||||
for Similarity<N, R, D>
|
||||
where
|
||||
R: Rotation<Point<N, D>> + AbstractRotation<N, D>,
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Scaling = N;
|
||||
|
||||
|
|
|
@ -6,7 +6,7 @@ use alga::linear::{ProjectiveTransformation, Transformation};
|
|||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
|
||||
use crate::base::{DefaultAllocator, VectorN};
|
||||
use crate::base::{CVectorN, Const, DefaultAllocator};
|
||||
|
||||
use crate::geometry::{Point, SubTCategoryOf, TCategory, TProjective, Transform};
|
||||
|
||||
|
@ -15,11 +15,12 @@ use crate::geometry::{Point, SubTCategoryOf, TCategory, TProjective, Transform};
|
|||
* Algebraic structures.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimNameAdd<U1>, C> Identity<Multiplicative>
|
||||
for Transform<N, D, C>
|
||||
impl<N: RealField + simba::scalar::RealField, C, const D: usize> Identity<Multiplicative>
|
||||
for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
C: TCategory,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
#[inline]
|
||||
fn identity() -> Self {
|
||||
|
@ -27,11 +28,12 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimNameAdd<U1>, C> TwoSidedInverse<Multiplicative>
|
||||
for Transform<N, D, C>
|
||||
impl<N: RealField + simba::scalar::RealField, C, const D: usize> TwoSidedInverse<Multiplicative>
|
||||
for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
C: SubTCategoryOf<TProjective>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
#[inline]
|
||||
#[must_use = "Did you mean to use two_sided_inverse_mut()?"]
|
||||
|
@ -45,11 +47,12 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimNameAdd<U1>, C> AbstractMagma<Multiplicative>
|
||||
for Transform<N, D, C>
|
||||
impl<N: RealField + simba::scalar::RealField, C, const D: usize> AbstractMagma<Multiplicative>
|
||||
for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
C: TCategory,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
#[inline]
|
||||
fn operate(&self, rhs: &Self) -> Self {
|
||||
|
@ -59,17 +62,21 @@ where
|
|||
|
||||
macro_rules! impl_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimNameAdd<U1>, C> $marker<$operator> for Transform<N, D, C>
|
||||
where C: TCategory,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> { }
|
||||
impl<N: RealField + simba::scalar::RealField, C, const D: usize> $marker<$operator> for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
C: TCategory,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> { }
|
||||
)*}
|
||||
);
|
||||
|
||||
macro_rules! impl_inversible_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimNameAdd<U1>, C> $marker<$operator> for Transform<N, D, C>
|
||||
where C: SubTCategoryOf<TProjective>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> { }
|
||||
impl<N: RealField + simba::scalar::RealField, C, const D: usize> $marker<$operator> for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
C: SubTCategoryOf<TProjective>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> { }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
@ -89,14 +96,13 @@ impl_inversible_multiplicative_structures!(
|
|||
* Transformation groups.
|
||||
*
|
||||
*/
|
||||
impl<N, D: DimNameAdd<U1>, C> Transformation<Point<N, D>> for Transform<N, D, C>
|
||||
impl<N, C, const D: usize> Transformation<Point<N, D>> for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
N: RealField + simba::scalar::RealField,
|
||||
C: TCategory,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
|
||||
+ Allocator<N, DimNameSum<D, U1>>
|
||||
+ Allocator<N, D, D>
|
||||
+ Allocator<N, D>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
|
||||
+ Allocator<N, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
#[inline]
|
||||
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -104,19 +110,18 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
impl<N, D: DimNameAdd<U1>, C> ProjectiveTransformation<Point<N, D>> for Transform<N, D, C>
|
||||
impl<N, C, const D: usize> ProjectiveTransformation<Point<N, D>> for Transform<N, C, D>
|
||||
where
|
||||
Const<D>: DimNameAdd<U1>,
|
||||
N: RealField + simba::scalar::RealField,
|
||||
C: SubTCategoryOf<TProjective>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>>
|
||||
+ Allocator<N, DimNameSum<D, U1>>
|
||||
+ Allocator<N, D, D>
|
||||
+ Allocator<N, D>,
|
||||
DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
|
||||
+ Allocator<N, DimNameSum<Const<D>, U1>>,
|
||||
{
|
||||
#[inline]
|
||||
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -124,17 +129,17 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn inverse_transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
self.inverse_transform_vector(v)
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: we need to implement an SVD for this.
|
||||
//
|
||||
// impl<N, D: DimNameAdd<U1>, C> AffineTransformation<Point<N, D>> for Transform<N, D, C>
|
||||
// impl<N, C, const D: usize> AffineTransformation<Point<N, D>> for Transform<N, C, D>
|
||||
// where N: RealField,
|
||||
// C: SubTCategoryOf<TAffine>,
|
||||
// DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> +
|
||||
// DefaultAllocator: Allocator<N, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> +
|
||||
// Allocator<N, D, D> +
|
||||
// Allocator<N, D> {
|
||||
// type PreRotation = Rotation<N, D>;
|
||||
|
|
|
@ -8,10 +8,7 @@ use alga::linear::{
|
|||
Transformation,
|
||||
};
|
||||
|
||||
use crate::base::allocator::Allocator;
|
||||
use crate::base::dimension::DimName;
|
||||
use crate::base::{DefaultAllocator, VectorN};
|
||||
|
||||
use crate::base::CVectorN;
|
||||
use crate::geometry::{Point, Translation};
|
||||
|
||||
/*
|
||||
|
@ -19,10 +16,8 @@ use crate::geometry::{Point, Translation};
|
|||
* Algebraic structures.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Identity<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Identity<Multiplicative>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn identity() -> Self {
|
||||
|
@ -30,10 +25,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> TwoSidedInverse<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> TwoSidedInverse<Multiplicative>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
#[must_use = "Did you mean to use two_sided_inverse_mut()?"]
|
||||
|
@ -47,10 +40,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> AbstractMagma<Multiplicative>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> AbstractMagma<Multiplicative>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn operate(&self, rhs: &Self) -> Self {
|
||||
|
@ -60,8 +51,8 @@ where
|
|||
|
||||
macro_rules! impl_multiplicative_structures(
|
||||
($($marker: ident<$operator: ident>),* $(,)*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> $marker<$operator> for Translation<N, D>
|
||||
where DefaultAllocator: Allocator<N, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> $marker<$operator> for Translation<N, D>
|
||||
{ }
|
||||
)*}
|
||||
);
|
||||
|
||||
|
@ -78,10 +69,8 @@ impl_multiplicative_structures!(
|
|||
* Transformation groups.
|
||||
*
|
||||
*/
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Transformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Transformation<Point<N, D>>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -89,15 +78,13 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
v.clone()
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> ProjectiveTransformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> ProjectiveTransformation<Point<N, D>>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn inverse_transform_point(&self, pt: &Point<N, D>) -> Point<N, D> {
|
||||
|
@ -105,15 +92,13 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
fn inverse_transform_vector(&self, v: &VectorN<N, D>) -> VectorN<N, D> {
|
||||
fn inverse_transform_vector(&self, v: &CVectorN<N, D>) -> CVectorN<N, D> {
|
||||
v.clone()
|
||||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> AffineTransformation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> AffineTransformation<Point<N, D>>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Rotation = Id;
|
||||
type NonUniformScaling = Id;
|
||||
|
@ -155,10 +140,8 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> Similarity<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> Similarity<Point<N, D>>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
type Scaling = Id;
|
||||
|
||||
|
@ -180,26 +163,24 @@ where
|
|||
|
||||
macro_rules! marker_impl(
|
||||
($($Trait: ident),*) => {$(
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> $Trait<Point<N, D>> for Translation<N, D>
|
||||
where DefaultAllocator: Allocator<N, D> { }
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> $Trait<Point<N, D>> for Translation<N, D>
|
||||
{ }
|
||||
)*}
|
||||
);
|
||||
|
||||
marker_impl!(Isometry, DirectIsometry);
|
||||
|
||||
/// Subgroups of the n-dimensional translation group `T(n)`.
|
||||
impl<N: RealField + simba::scalar::RealField, D: DimName> AlgaTranslation<Point<N, D>>
|
||||
impl<N: RealField + simba::scalar::RealField, const D: usize> AlgaTranslation<Point<N, D>>
|
||||
for Translation<N, D>
|
||||
where
|
||||
DefaultAllocator: Allocator<N, D>,
|
||||
{
|
||||
#[inline]
|
||||
fn to_vector(&self) -> VectorN<N, D> {
|
||||
fn to_vector(&self) -> CVectorN<N, D> {
|
||||
self.vector.clone()
|
||||
}
|
||||
|
||||
#[inline]
|
||||
fn from_vector(v: VectorN<N, D>) -> Option<Self> {
|
||||
fn from_vector(v: CVectorN<N, D>) -> Option<Self> {
|
||||
Some(Self::from(v))
|
||||
}
|
||||
|
||||
|
|
|
@ -287,12 +287,12 @@ fn matrix_slice_from_matrix_ref() {
|
|||
($mref:expr) => {
|
||||
MatrixSlice::<_, U3, U4, U1, U3>::from($mref)
|
||||
};
|
||||
};
|
||||
}
|
||||
macro_rules! fixed_slice_mut {
|
||||
($mref:expr) => {
|
||||
MatrixSliceMut::<_, U3, U4, U1, U3>::from($mref)
|
||||
};
|
||||
};
|
||||
}
|
||||
|
||||
// TODO: The `into_owned()` is a result of `PartialEq` not being implemented for different
|
||||
// Self and RHS. See issue #674. Once this is implemented, we can remove `into_owned`
|
||||
|
|
|
@ -838,17 +838,16 @@ fn swizzle() {
|
|||
mod transposition_tests {
|
||||
use super::*;
|
||||
use crate::proptest::{dmatrix, matrix, vector4, PROPTEST_F64};
|
||||
use na::{U2, U3, U4, U6};
|
||||
use proptest::{prop_assert, prop_assert_eq, proptest};
|
||||
|
||||
proptest! {
|
||||
#[test]
|
||||
fn transpose_transpose_is_self(m in matrix(PROPTEST_F64, U2, U3)) {
|
||||
fn transpose_transpose_is_self(m in matrix(PROPTEST_F64, Const::<2>, Const::<3>)) {
|
||||
prop_assert_eq!(m.transpose().transpose(), m)
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn transpose_mut_transpose_mut_is_self(m in matrix(PROPTEST_F64, U3, U3)) {
|
||||
fn transpose_mut_transpose_mut_is_self(m in matrix(PROPTEST_F64, Const::<3>, Const::<3>)) {
|
||||
let mut mm = m;
|
||||
mm.transpose_mut();
|
||||
mm.transpose_mut();
|
||||
|
@ -875,7 +874,7 @@ mod transposition_tests {
|
|||
}
|
||||
|
||||
#[test]
|
||||
fn tr_mul_is_transpose_then_mul(m in matrix(PROPTEST_F64, U4, U6), v in vector4()) {
|
||||
fn tr_mul_is_transpose_then_mul(m in matrix(PROPTEST_F64, Const::<4>, Const::<6>), v in vector4()) {
|
||||
prop_assert!(relative_eq!(m.transpose() * v, m.tr_mul(&v), epsilon = 1.0e-7))
|
||||
}
|
||||
}
|
||||
|
|
|
@ -4,7 +4,7 @@ macro_rules! gen_tests(
|
|||
($module: ident, $scalar: ty) => {
|
||||
mod $module {
|
||||
use na::debug::RandomSDP;
|
||||
use na::dimension::{U4, Const, Dynamic};
|
||||
use na::dimension::{Const, Dynamic};
|
||||
use na::{DMatrix, DVector, Matrix4x3, Vector4};
|
||||
use rand::random;
|
||||
use simba::scalar::ComplexField;
|
||||
|
|
|
@ -8,7 +8,7 @@ use nalgebra::proptest::{DimRange, MatrixStrategy};
|
|||
use nalgebra::{
|
||||
DMatrix, DVector, DefaultAllocator, Dim, DualQuaternion, Isometry2, Isometry3, Matrix3,
|
||||
MatrixMN, Point2, Point3, Quaternion, Rotation2, Rotation3, Scalar, Similarity3, Translation2,
|
||||
Translation3, UnitComplex, UnitDualQuaternion, UnitQuaternion, Vector3, U2, U3, U4, U7, U8,
|
||||
Translation3, UnitComplex, UnitDualQuaternion, UnitQuaternion, Vector3, U3, U4,
|
||||
};
|
||||
use num_complex::Complex;
|
||||
use proptest::prelude::*;
|
||||
|
@ -62,7 +62,7 @@ pub fn isometry3() -> impl Strategy<Value = Isometry3<f64>> {
|
|||
// }
|
||||
|
||||
pub fn similarity3() -> impl Strategy<Value = Similarity3<f64>> {
|
||||
vector(PROPTEST_F64, U7)
|
||||
vector(PROPTEST_F64, Const::<7>)
|
||||
.prop_map(|v| Similarity3::new(v.xyz(), Vector3::new(v[3], v[4], v[5]), v[6]))
|
||||
}
|
||||
|
||||
|
@ -71,7 +71,7 @@ pub fn unit_dual_quaternion() -> impl Strategy<Value = UnitDualQuaternion<f64>>
|
|||
}
|
||||
|
||||
pub fn dual_quaternion() -> impl Strategy<Value = DualQuaternion<f64>> {
|
||||
vector(PROPTEST_F64, U8).prop_map(|v| {
|
||||
vector(PROPTEST_F64, Const::<8>).prop_map(|v| {
|
||||
DualQuaternion::from_real_and_dual(
|
||||
Quaternion::new(v[0], v[1], v[2], v[3]),
|
||||
Quaternion::new(v[4], v[5], v[6], v[7]),
|
||||
|
@ -88,7 +88,7 @@ pub fn unit_quaternion() -> impl Strategy<Value = UnitQuaternion<f64>> {
|
|||
}
|
||||
|
||||
pub fn complex_f64() -> impl Strategy<Value = Complex<f64>> + Clone {
|
||||
vector(PROPTEST_F64, U2).prop_map(|v| Complex::new(v.x, v.y))
|
||||
vector(PROPTEST_F64, Const::<2>).prop_map(|v| Complex::new(v.x, v.y))
|
||||
}
|
||||
|
||||
pub fn dmatrix() -> impl Strategy<Value = DMatrix<f64>> {
|
||||
|
@ -120,42 +120,41 @@ where
|
|||
// }
|
||||
|
||||
macro_rules! define_strategies(
|
||||
($($strategy_: ident $strategy: ident<$nrows: ident, $ncols: ident>),*) => {$(
|
||||
pub fn $strategy() -> impl Strategy<Value = MatrixMN<f64, $nrows, $ncols>> {
|
||||
matrix(PROPTEST_F64, $nrows, $ncols)
|
||||
($($strategy_: ident $strategy: ident<$nrows: literal, $ncols: literal>),*) => {$(
|
||||
pub fn $strategy() -> impl Strategy<Value = MatrixMN<f64, Const<$nrows>, Const<$ncols>>> {
|
||||
matrix(PROPTEST_F64, Const::<$nrows>, Const::<$ncols>)
|
||||
}
|
||||
|
||||
pub fn $strategy_<ScalarStrategy>(scalar_strategy: ScalarStrategy) -> impl Strategy<Value = MatrixMN<ScalarStrategy::Value, $nrows, $ncols>>
|
||||
pub fn $strategy_<ScalarStrategy>(scalar_strategy: ScalarStrategy) -> impl Strategy<Value = MatrixMN<ScalarStrategy::Value, Const<$nrows>, Const<$ncols>>>
|
||||
where
|
||||
ScalarStrategy: Strategy + Clone + 'static,
|
||||
ScalarStrategy::Value: Scalar,
|
||||
DefaultAllocator: Allocator<ScalarStrategy::Value, $nrows, $ncols> {
|
||||
matrix(scalar_strategy, $nrows, $ncols)
|
||||
ScalarStrategy::Value: Scalar, {
|
||||
matrix(scalar_strategy, Const::<$nrows>, Const::<$ncols>)
|
||||
}
|
||||
)*}
|
||||
);
|
||||
|
||||
define_strategies!(
|
||||
matrix1_ matrix1<U1, U1>,
|
||||
matrix2_ matrix2<U2, U2>,
|
||||
matrix3_ matrix3<U3, U3>,
|
||||
matrix4_ matrix4<U4, U4>,
|
||||
matrix5_ matrix5<U5, U5>,
|
||||
matrix6_ matrix6<U6, U6>,
|
||||
matrix1_ matrix1<1, 1>,
|
||||
matrix2_ matrix2<2, 2>,
|
||||
matrix3_ matrix3<3, 3>,
|
||||
matrix4_ matrix4<4, 4>,
|
||||
matrix5_ matrix5<5, 5>,
|
||||
matrix6_ matrix6<6, 6>,
|
||||
|
||||
matrix5x2_ matrix5x2<U5, U2>,
|
||||
matrix2x5_ matrix2x5<U2, U5>,
|
||||
matrix5x3_ matrix5x3<U5, U3>,
|
||||
matrix3x5_ matrix3x5<U3, U5>,
|
||||
matrix5x4_ matrix5x4<U5, U4>,
|
||||
matrix4x5_ matrix4x5<U4, U5>,
|
||||
matrix5x2_ matrix5x2<5, 2>,
|
||||
matrix2x5_ matrix2x5<2, 5>,
|
||||
matrix5x3_ matrix5x3<5, 3>,
|
||||
matrix3x5_ matrix3x5<3, 5>,
|
||||
matrix5x4_ matrix5x4<5, 4>,
|
||||
matrix4x5_ matrix4x5<4, 5>,
|
||||
|
||||
vector1_ vector1<U1, U1>,
|
||||
vector2_ vector2<U2, U1>,
|
||||
vector3_ vector3<U3, U1>,
|
||||
vector4_ vector4<U4, U1>,
|
||||
vector5_ vector5<U5, U1>,
|
||||
vector6_ vector6<U6, U1>
|
||||
vector1_ vector1<1, 1>,
|
||||
vector2_ vector2<2, 1>,
|
||||
vector3_ vector3<3, 1>,
|
||||
vector4_ vector4<4, 1>,
|
||||
vector5_ vector5<5, 1>,
|
||||
vector6_ vector6<6, 1>
|
||||
);
|
||||
|
||||
/// Generate a proptest that tests that all matrices generated with the
|
||||
|
@ -180,16 +179,16 @@ macro_rules! generate_matrix_sanity_test {
|
|||
}
|
||||
|
||||
// Test all fixed-size matrices with row/col dimensions up to 3
|
||||
generate_matrix_sanity_test!(test_matrix_u0_u0, U0, U0);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u0, U1, U0);
|
||||
generate_matrix_sanity_test!(test_matrix_u0_u1, U0, U1);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u1, U1, U1);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u1, U2, U1);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u2, U1, U2);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u2, U2, U2);
|
||||
generate_matrix_sanity_test!(test_matrix_u3_u2, U3, U2);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u3, U2, U3);
|
||||
generate_matrix_sanity_test!(test_matrix_u3_u3, U3, U3);
|
||||
generate_matrix_sanity_test!(test_matrix_u0_u0, Const::<0>, Const::<0>);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u0, Const::<1>, Const::<0>);
|
||||
generate_matrix_sanity_test!(test_matrix_u0_u1, Const::<0>, Const::<1>);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u1, Const::<1>, Const::<1>);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u1, Const::<2>, Const::<1>);
|
||||
generate_matrix_sanity_test!(test_matrix_u1_u2, Const::<1>, Const::<2>);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u2, Const::<2>, Const::<2>);
|
||||
generate_matrix_sanity_test!(test_matrix_u3_u2, Const::<3>, Const::<2>);
|
||||
generate_matrix_sanity_test!(test_matrix_u2_u3, Const::<2>, Const::<3>);
|
||||
generate_matrix_sanity_test!(test_matrix_u3_u3, Const::<3>, Const::<3>);
|
||||
|
||||
// Similarly test all heap-allocated but fixed dim ranges
|
||||
generate_matrix_sanity_test!(test_matrix_0_0, 0, 0);
|
||||
|
@ -204,18 +203,18 @@ generate_matrix_sanity_test!(test_matrix_2_3, 2, 3);
|
|||
generate_matrix_sanity_test!(test_matrix_3_3, 3, 3);
|
||||
|
||||
// Test arbitrary inputs
|
||||
generate_matrix_sanity_test!(test_matrix_input_1, U5, 1..=5);
|
||||
generate_matrix_sanity_test!(test_matrix_input_1, Const::<5>, 1..=5);
|
||||
generate_matrix_sanity_test!(test_matrix_input_2, 3..=4, 1..=5);
|
||||
generate_matrix_sanity_test!(test_matrix_input_3, 1..=2, U3);
|
||||
generate_matrix_sanity_test!(test_matrix_input_4, 3, U4);
|
||||
generate_matrix_sanity_test!(test_matrix_input_3, 1..=2, Const::<3>);
|
||||
generate_matrix_sanity_test!(test_matrix_input_4, 3, Const::<4>);
|
||||
|
||||
#[test]
|
||||
fn test_matrix_output_types() {
|
||||
// Test that the dimension types are correct for the given inputs
|
||||
let _: MatrixStrategy<_, U3, U4> = matrix(-5..5, U3, U4);
|
||||
let _: MatrixStrategy<_, U3, U3> = matrix(-5..5, U3, U3);
|
||||
let _: MatrixStrategy<_, U3, Dynamic> = matrix(-5..5, U3, 1..=5);
|
||||
let _: MatrixStrategy<_, Dynamic, U3> = matrix(-5..5, 1..=5, U3);
|
||||
let _: MatrixStrategy<_, U3, U4> = matrix(-5..5, Const::<3>, Const::<4>);
|
||||
let _: MatrixStrategy<_, U3, U3> = matrix(-5..5, Const::<3>, Const::<3>);
|
||||
let _: MatrixStrategy<_, U3, Dynamic> = matrix(-5..5, Const::<3>, 1..=5);
|
||||
let _: MatrixStrategy<_, Dynamic, U3> = matrix(-5..5, 1..=5, Const::<3>);
|
||||
let _: MatrixStrategy<_, Dynamic, Dynamic> = matrix(-5..5, 1..=5, 1..=5);
|
||||
}
|
||||
|
||||
|
|
Loading…
Reference in New Issue